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|1. (WO2018219194) CYBER ARM-BASED TELEOPERATION SYSTEM FOR SPACE STATION ROBOT|
|Title:||CYBER ARM-BASED TELEOPERATION SYSTEM FOR SPACE STATION ROBOT|
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.