Abstract For the lack of flexibility of traditional space teleoperation control method, an adaptive terminal sliding mode similarity (ATSMS) control method is proposed. Based on the end position and joint angle data of the operator’s arm captured by motion capture technology, an adaptive terminal sliding mode controller is designed in this method to control the end position of space robot accurately. Besides, a clamping velocity is designed, and then a similarity control method is used to control the robot’s joint angles to tend to the operator’s arm without disturbances to the accurate control of the end position. Numerical simulation and ground experiment results show that, the proposed ATSMS control method can realize the accurate control of the end position and the flexible control of the joint space, in which the end position control accuracy is about 97.58% and the average similarity between the operator’s arm and space robot is up to 99.06%. Thus, the ATSMS control method can increase the flexibility of space teleoperation and be applied in the future for more precise and complex space teleoperation tasks.


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    Titel :

    Human Motion Capture Similarity Control for Space Teleoperation


    Beteiligte:
    Shi, Zhong (Autor:in) / Huang, Xuexiang (Autor:in) / Hu, Tianjian (Autor:in)


    Erscheinungsdatum :

    2017-07-27


    Format / Umfang :

    17 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch