Journal
ADVANCES IN SPACE RESEARCH
Volume 58, Issue 7, Pages 1401-1416Publisher
ELSEVIER SCI LTD
DOI: 10.1016/j.asr.2016.06.015
Keywords
Space technology; Human robot interaction; Kinematic mapping method; Inverse kinematics
Categories
Funding
- National Natural Science Foundation of China [11402004]
Ask authors/readers for more resources
Space teleoperation is an important space technology, and human robot motion similarity can improve the flexibility and intuition of space teleoperation. This paper aims to obtain an appropriate kinematics mapping method of coupled Cartesian-joint space for space teleoperation. First, the coupled Cartesian-joint similarity principles concerning kinematics differences are defined. Then, a novel weighted augmented Jacobian matrix with a variable coefficient (WAJM-VC) method for kinematics mapping is proposed. The Jacobian matrix is augmented to achieve a global similarity of human robot motion. A clamping weighted least norm scheme is introduced to achieve local optimizations, and the operating ratio coefficient is variable to pursue similarity in the elbow joint. Similarity in Cartesian space and the property of joint constraint satisfaction is analysed to determine the damping factor and clamping velocity. Finally, a teleoperation system based on human motion capture is established, and the experimental results indicate that the proposed WAJM-VC method can improve the flexibility and intuition of space teleoperation to complete complex space tasks. (C) 2016 COSPAR. Published by Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available