Experimental evaluation of force control for virtual-fixture-assisted teleoperation for on-orbit manipulation of satellite thermal blanket insulation
Experimental evaluation of force control for virtual-fixture-assisted teleoperation for on-orbit manipulation of satellite thermal blanket insulation
复制标题
卫星隔热层在轨操纵虚拟夹具辅助遥操作力控制实验评估
DOI：
10.1109/icra.2015.7139811
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
L. Whitcomb
中科院分区：
文献类型：
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作者：
Steve Vozar;S. Léonard;P. Kazanzides;L. Whitcomb
使用遥控机器人在轨道上为卫星加油的能力可以延长卫星任务的寿命，可能为工业和空间机构节省时间和资源。加油过程中的一个关键步骤是通过切割粘合着覆盖在卫星主体上的两段多层绝缘(MLI)的胶带来进入卫星的加油端口。用于将MLI各部分粘合在一起的金属化胶带具有可变形、精细、镜面反射的特性，这使得切割胶带接缝成为远程执行的一项困难任务，这一困难因不可避免的数秒通信延迟而变得更加困难。虚拟夹具辅助的遥操作可以根据任务的先验知识来限制切割刀片的运动，从而帮助缓解其中的一些问题。增加力控制可以通过自动设置所需的法向切削力来进一步辅助遥控操作器。本文给出了一个典型卫星磁带切割任务的20个参与者的用户研究结果，结果表明，基于映射到MLI包层平面的虚拟夹具的力控制可以减少磁带集束和操作员的工作量。
The ability to refuel satellites on-orbit using teleoperated robots could extend the life of satellite missions, potentially saving time and resources for both industry and space agencies. One critical step in the refueling process is to gain access to the satellite's fueling port by cutting through a seam of tape that adheres two sections of multi-layer insulation (MLI) covering the satellite body. The deformable, delicate, specular nature of the metalized tape used to adhere sections of MLI to one another makes cutting the tape seams a difficult task to perform remotely, a difficulty that is compounded by unavoidable multi-second communications delays. Virtual-fixture-assisted teleoperation can help mitigate some of these issues by constraining the motion of the cutting blade based on a priori knowledge of the task. Adding force control may further assist teleoperators by automatically setting a desired normal cutting force. This paper presents the results of a 20-participant user study for a representative satellite tape-cutting task, showing that force control based on a virtual fixture mapped to the MLI blanket plane can decrease both tape bunching and operator workload.