Research On Configuration Analysis And Evaluation Method Of Manipulators For Teleoperation

In many fields such as space flight and space exploration,the teleoperation technology of manipulator is widely used to assist or replace human beings in completing complex operations and tasks,and is one of the key research contents and technologies.Faced with the complex and varied tasks in these fields and the harsh and changeable environment,it is of great practical significance and urgency to study how to analyze and evaluate the configuration of the manipulator according to the teleoperation task,and improve the adaptability and execution ability of the manipulator to complete the task.In this paper,the rigid serial manipulator with fixed base was taken as the research object.The configuration change,kinematics and dynamics analysis and configuration evaluation method for teleoperation task were studied.The teleoperation system of the manipulator was built to simulate and verify the research contents and methods.Firstly,the initial configuration of the seven-degree-of-freedom redundant manipulator was established,and the configuration of the manipulator was changed by locking the joint and analyzing the workspace.The D-H method was used to model the kinematics of the seven-degree-of-freedom manipulator configuration,and the inverse kinematics was solved by parameterization of the arm angle.Based on the kinematics analysis of the seven-degree-of-freedom manipulator configuration,the kinematics solution of the six-degree-of-freedom and five-degree-of-freedom manipulator configuration was completed.Secondly,the Jacobian matrix was solved by the differential transformation method,and the operability index of dexterity was obtained.The Newton-Euler method was used to analyze the dynamics of the manipulator with different configurations,and the trajectory planning of the manipulator during the task execution was completed.Then,based on the kinematics and dynamics evaluation index data obtained from the configuration analysis of the manipulator,combined with the analytic hierarchy process and the entropy method,the weight of the index was determined.On the premise of satisfying the constraints,the grey correlation analysis method was used to evaluate the different configuration of the manipulator to complete the configuration evaluation and selection for the teleoperation task.Finally,the teleoperation system of the manipulator was built,and the virtual task scene and virtual prototype were built.Based on the teleoperation platform,the research of the configuration evaluation method and simulation experiments of the teleoperation-oriented manipulator were implemented to verify the feasibility and validity of the research method in this paper.