Research and Implementation of Teleoperation System for Space Flexible Manipulator

摘要

According to the characteristics of space flexible manipulator, a teleoperation system is designed and developed, including information processing module, human-computer interaction module, information processing module, prediction simulation module and ground verification module. Because of the typical satellite failure problem that solar panels cannot be deployed, a flexible manipulator planning method based on free combination of degrees of freedom is proposed to control the flexible manipulator to complete the maintenance task through narrow space. Finally, the method is validated by using the teleoperation system of space flexible manipulator, and experiments show that the method can safely accomplish the task of narrow space operations.