WO2018219194A1 - Cyber arm-based teleoperation system for space station robot - Google Patents

Abstract

A cyber arm-based teleoperation system for a space station robot, comprising: an arm joint movement measurement device, a data acquisition device, a data communication device and a PC terminal. The arm joint movement measurement device is composed of three groups of independent MEMS sensor modules. The data acquisition device is composed of a minimum microprocessor system, and is used for reading and converting data transmitted from the arm joint movement measurement device. The data communication device receives data of the data acquisition device by means of a serial port, and sends same to the PC terminal by means of Bluetooth. The PC terminal comprises a data display module, an arm movement resolving module, a robot movement inverse resolving module and a virtual scene rendering module. The present invention is able to acquire, during the movement of an operator's arm, euler angles of three joints, shoulder, elbow and wrist, send the data to the PC terminal by means of the data communication device, and map same to a virtual arm, such that the virtual arm performs a corresponding action. The movement trajectory of the end of a palm is finally resolved according to the euler angles and the sizes of the upper arm, forearm and palm of the virtual arm, and then joint angles of the robot are obtained by means of inverse resolution and are used to control the teleoperated robot. The teleoperation system directly controls the movement of the teleoperated robot by means of actions of the operator's arm, effectively improving man-machine interaction efficiency.

Description

Teleoperation system for space station robot based on data arm Technical field

The invention relates to a control system in the field of aerospace technology, in particular to a teleoperation control system for a space station manipulator.

Background technique

With the continuous advancement of science and technology, human space activities have become more frequent. A large number of work and a harsh space environment have brought great difficulties to the operation of astronauts. However, the intelligent robots currently developed are subject to space conditions and sensing control technology. It is still risky to allow them to work autonomously in an unknown or complex environment. Therefore, it is a long-term and effective means to complete a large number of space missions by using a space station teleoperation robot based on human-computer interaction equipment. Space station teleoperation robots have been widely used in space station segment transposition and auxiliary docking, hovering aircraft capture and auxiliary docking, extravehicular equipment installation, replacement or maintenance and other space station extravehicular tasks. At present, European and American countries have successively developed a series of space station teleoperation robots, which have been successfully put into use in the extra-vehicular activities of the International Space Station. In China, the successful launch of Tiangong No. 1 and No. 2 indicates that the construction of China's space station is proceeding in an orderly manner, and teleoperation robot technology will be widely used.

The human-computer interaction device is an important part of the space teleoperation robot system, through which the operator can input control information, and also obtain information about the space robot and the environment. The input control information is obtained by measuring the motion and posture of the operator. At present, the human-computer interaction device of the most representative space teleoperation robot is a multi-degree-of-freedom force feedback hand controller, such as PHANTOM seven-degree-of-freedom force feedback hand controller. These devices have higher requirements on the operator's operation level and poor manpower.

Therefore, it is urgent to solve the above problems.

Summary of the invention

OBJECT OF THE INVENTION The object of the present invention is to provide a space-oriented robot based on a data arm that can realize simple and convenient control of a teleoperation robot, effectively improve the reliability and human-machine efficiency of the space station robot, and reduce the operation difficulty. operating system.

Technical Solution: A remote operating system for a space station robot based on a data arm, comprising: an arm joint motion measuring device, a data collecting device, a data communication device, and a PC terminal. The arm joint motion measuring device is composed of three sets of independent MEMS sensor modules. The data acquisition device is comprised of a microprocessor minimum system for reading and converting data from the transmission arm articulation measurement device. The data communication device receives data of the data collection device through the serial port and transmits the data to the PC terminal through Bluetooth. The PC terminal includes a data display module, an arm motion solution module, a robot motion inverse solution module, and a virtual scene rendering module. The arm joint motion measuring device collects three joints of the shoulder, the elbow and the wrist when the author moves the arm. The quaternion, the data acquisition device converts the data into a more intuitive Euler angle, sends it to the PC terminal through the data communication device, and displays it on the data display module; the arm motion solving module will receive The Euler angle data is mapped to the shoulders, elbows and wrists of the virtual arm, and the movement trajectory of the palm end is calculated according to the Euler angle and the size of the arm, the arm and the palm of the virtual arm; The solving module maps the motion trajectory of the palm end to the motion coordinate system of the space station teleoperation robot, calculates the joint angle of the robot by inverse calculation, and uses it for teleoperation robot control; the virtual scene rendering module renders the virtual arm in real time. And the motion state of the teleoperation robot.

The arm joint motion measuring device is composed of three independent MEMS sensor modules, and can collect the quaternions of the shoulder, elbow and wrist joints of the author's arm movement, and the data acquisition device converts the data after reading. For a more intuitive Euler angle, it is sent to the PC terminal via the data communication device and displayed on the data display module.

Preferably, the data communication device is composed of a Bluetooth serial communication module, and the module receives the Euler angle calculated by the data acquisition device through the serial port, and sends the Euler angle to the PC terminal through Bluetooth.

Furthermore, the arm motion solving module maps the received Euler angle data to the shoulders, elbows, and wrists of the virtual arm, according to the Euler angle and the size of the arms, arms, and palms of the virtual arm. Solve the motion trajectory at the end of the palm.

Preferably, the robot motion inverse calculation module maps the motion trajectory of the palm end to the motion coordinate system of the space station teleoperation robot, calculates the joint angle of the robot by inverse calculation, and uses it for teleoperation robot control.

Further, the virtual scene rendering module uses the OpenGL graphics library to construct a three-dimensional model scene of the virtual arm and the teleoperation robot, and renders the virtual arm in real time according to the motion angle information of the operator arm and the joint angle of the robot calculated by the inverse solution module. The motion state of the teleoperation robot.

Advantageous Effects: Compared with the prior art, the present invention has the following significant advantages: Firstly, the present invention can directly control the teleoperation robot by the operator's arm movement, greatly reducing the requirement for the operator's operation skill, and effectively improving the system. Secondly, the present invention constructs a virtual scene based on OpenGL graphics library, which can real-time render the motion state of the virtual arm and the teleoperation robot, assist the operator to quickly adjust the motion, and make the control process of the teleoperation robot more intuitive; The motion state of the teleoperation robot displayed by the virtual scene rendering module is displayed in real time according to the calculation result of the inverse solution module, and has no time delay with the operator's motion, which is beneficial to the teleoperation robot control in a large delay environment.

DRAWINGS

1 is a block diagram of the system structure of the present invention.

detailed description

The technical solution of the present invention will be further described below with reference to the accompanying drawings.

As shown in FIG. 1, the present invention is a remote operating system for a space station robot based on a data arm, which comprises: an arm joint motion measuring device, a data collecting device, a data communication device, and a PC terminal. The arm joint motion measuring device is composed of three sets of independent MEMS sensor modules. The data acquisition device is comprised of a microprocessor minimum system for reading and converting data from the transmission arm articulation measurement device. The data communication device receives data of the data collection device through the serial port and transmits the data to the PC terminal through Bluetooth. The PC terminal includes a data display module, an arm motion solution module, a robot motion inverse solution module, and a virtual scene rendering module.

Wherein, the arm joint motion measuring device can collect the quaternions of the shoulder, elbow and wrist joints of the author's arm movement, and the data acquisition device converts the data into a more intuitive Euler angle, through The data communication device is sent to the PC terminal and displayed on the data display module; the arm motion solving module maps the received Euler angle data to the shoulders, elbows, and wrists of the virtual arm, according to the Euler angle And the size of the boom, the arm and the palm of the virtual arm are used to calculate the motion trajectory of the palm end; the robot motion inverse calculation module maps the motion trajectory of the palm end to the motion coordinate system of the space station teleoperation robot, through the inverse solution The joint angle of the robot is calculated and used for teleoperation robot control; the virtual scene rendering module renders the motion state of the virtual arm and the teleoperation robot in real time.

The arm joint motion measuring device collects the quaternions of the shoulder, elbow and wrist joint angles of the author's arm movement through three independent 6-axis MEMS sensor modules, and the data acquisition device converts the data into more. It is an intuitive Euler angle and is sent to the data communication device through the RS232 serial communication protocol. After receiving the data, the data communication device transmits the data to the PC terminal through Bluetooth and displays it on the data display module. The specific MEMS sensor module uses the MPU6050 integrated 6-axis motion processing component; the microprocessor uses the STM32F103C8T6 microcontroller based on the ARM Cortex-M3 core produced by STMicroelectronics, controls the sensor operation through I ² C communication and collects the sensor acquisition. Data, then convert the quaternion of the three joint angles into a more intuitive Euler angle; the specific data communication device uses the widely used HC-05 master-slave integrated Bluetooth serial communication module, the master-slave machine The data is connected to the PC terminal and the data acquisition device, and the Euler angle data converted by the data collection device is sequentially sent to the PC terminal through Bluetooth.

In the invention, the arm motion solving module maps the received Euler angle data to the shoulders, elbows and wrists of the virtual arm, and calculates the size of the arm, the arm and the palm of the virtual arm according to the Euler angle and the virtual arm. The trajectory of the end of the palm. Among them, the size of each part of the virtual arm is preset, and the virtual arm is used to solve the motion trajectory to avoid the error of the motion trajectory solution caused by the difference of the arm sizes of different operators.

In the invention, the robot motion inverse calculation module maps the motion trajectory of the palm end to the motion coordinate system of the space station teleoperation robot, and calculates the joint angle of the robot by inverse calculation, and uses it for the teleoperation robot control. In the aspect of inverse solution calculation, the present invention utilizes the KDL matrix calculation library function based on C++ language which has been developed at present, and constructs a mathematical model corresponding to the connection relationship of each joint of the robot in the actual use process, and completes the inverse solution calculation process.

In the invention, the virtual scene rendering module uses the OpenGL graphics library to construct a three-dimensional model scene of the virtual arm and the teleoperation robot, and renders the virtual arm and the remote in real time according to the motion angle information of the operator arm and the joint angle of the robot calculated by the inverse solution calculation module. Operate the motion state of the robot. Specifically, the virtual arm and teleoperation robot models are built by 3DMax, and then these models are imported and assembled in the Open Studio graphics library on the Visual Studio C++ platform to build the initial virtual scene. When the PC terminal receives the data of the operator's arm movement and completes all the calculations, the joints of the virtual arm and the virtual robot will perform corresponding rotation actions according to the solution result, and the entire scene is then re-rendered to ensure the model in the virtual scene. Consistency with operator actions.

The display content in the data display module of the present invention includes the Euler angles of the joints of the operator's arm and the joint rotation angles of the teleoperation robots, and the display unit is degrees; the size of the virtual hand boom, the arm and the palm, the current position coordinates of the palm end, The current position coordinates of the teleoperation robot end, the display unit is mm.

Working Process: The present invention consists of an arm joint motion measuring device, a data collecting device, a data communication device, and a PC terminal. The arm joint motion measuring device is composed of three sets of independent MEMS sensor modules. The data acquisition device is comprised of a microprocessor minimum system for reading and converting data from the transmission arm articulation measurement device. The data communication device receives data of the data collection device through the serial port and transmits the data to the PC terminal through Bluetooth. The PC terminal includes a data display module, an arm motion solution module, a robot motion inverse solution module, and a virtual scene rendering module. When the entire system is powered on, each module performs initialization work. During the initialization process, the data acquisition device configures the register of the MPU6050 sensor module in the arm joint motion measuring device according to a preset program, and the Bluetooth host in the data communication device automatically matches the slave device according to the specified Bluetooth module identification code, and each module of the PC terminal Also entering the ready state, the virtual scene rendering module constructs an initial virtual scene. After the initialization is completed, the individual MEMS sensor units of the arm joint motion measuring device will be fixed to the arms, arms and palms of the upper limb of the operator's right side for collecting data during arm movement. The data acquisition device reads the data collected by the arm joint motion measuring device according to a fixed frequency, and converts the data format from a quaternion to a more intuitive Euler angle, and then transmits the data to the data communication device through serial communication. After receiving the Euler angle data, the data communication device transmits the data to the PC terminal through Bluetooth, and the data display module displays the Euler angle data from the data acquisition device in real time. The PC terminal maps the received Euler angle data to the virtual arm, and the arm motion solving module calculates the motion track of the palm end according to the Euler angle data and the size of each part of the virtual arm, and the robot motion inverse calculation module will end the palm of the hand. The motion trajectory is mapped to the motion coordinate system of the space station teleoperation robot. Combined with the size of each part of the robot and the current motion state of the robot, the joint angle of the robot is calculated by inverse calculation and used for teleoperation robot control. At the same time, the data display module will also display real-time information such as virtual arm size, virtual palm end position coordinates, robot end position coordinates, and robot joint angles.

Claims (6)

A remote operating system for a space station robot based on a data arm, comprising: an arm joint motion measuring device, a data collecting device, a data communication device, and a PC terminal. The arm joint motion measuring device is composed of three sets of independent MEMS sensor modules. The data acquisition device is comprised of a microprocessor minimum system for reading and converting data from the arm joint motion measuring device. The data communication device receives data of the data collection device through the serial port and transmits the data to the PC terminal through Bluetooth. The PC terminal includes a data display module, an arm motion solution module, a robot motion inverse solution module, and a virtual scene rendering module. The arm joint motion measuring device collects three joints of the shoulder, the elbow and the wrist when the author moves the arm. The quaternion, the data acquisition device converts the data into a more intuitive Euler angle, sends it to the PC terminal through the data communication device, and displays it on the data display module; the arm motion solving module will receive The Euler angle data is mapped to the shoulders, elbows and wrists of the virtual arm, and the movement trajectory of the palm end is calculated according to the Euler angle and the size of the arm, the arm and the palm of the virtual arm; The solving module maps the motion trajectory of the palm end to the motion coordinate system of the space station teleoperation robot, calculates the joint angle of the robot by inverse calculation, and uses it for teleoperation robot control; the virtual scene rendering module renders the virtual arm in real time. And the motion state of the teleoperation robot. The data arm-based space station robot-based teleoperation system according to claim 1, wherein the arm joint motion measuring device is composed of three independent MEMS sensor modules, and can collect the shoulder of the author when the arm moves. The quaternion of the elbow and wrist joints, the data acquisition device reads the data and converts it into a more intuitive Euler angle, which is sent to the PC terminal through the data communication device and displayed on the data display module. The data arm-based telescope operating system for a space station robot according to claim 1, wherein the data communication device is composed of a Bluetooth serial communication module, and the module receives the Euler angle calculated by the data acquisition device through the serial port. And send it to the PC terminal via Bluetooth. The data arm-based spatial station robot-based teleoperation system according to claim 1, wherein the arm motion solving module maps the received Euler angle data to the shoulder, elbow and wrist of the virtual arm. On the joint, the trajectory of the end of the palm is calculated according to the Euler angle and the size of the arm, arm and palm of the virtual arm. The data arm-based spatial station robot-based teleoperation system according to claim 1, wherein the robot motion inverse calculation module maps a motion trajectory of the palm end to a motion coordinate system of the space station teleoperation robot, The inverse joint calculation calculates the joint angle of the robot and uses it for teleoperation robot control. The telescope operating system for a space arm based on a data arm according to claim 1, wherein the virtual scene rendering module constructs a three-dimensional model scene of the virtual arm and the teleoperation robot by using an OpenGL graphics library, according to an operator's arm. The motion angle information and the joint angle of the robot calculated by the inverse solution module real-time render the motion state of the virtual arm and the teleoperation robot.

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