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适用于卫星服务的合规机器人行为

Joseph Cressman¹, Rahul Pokharna¹, Wyatt Newman¹

¹Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH, United States.

Frontiers in robotics and AI

|August 3, 2023

概括

定位目标关键限制 (PTWL) 为太空机器人挑战提供了强大的解决方案,例如通信延迟. 这种合规的控制方法提高了远程操作的安全性,并使宇航员能够半自主完成任务.

科学领域:

机器人技术机器人技术机器人技术
太空探索工程太空探索工程

背景情况:

传统的工业机器人需要精度和速度.
太空机器人必须处理环境的不确定性,通信延迟和动态,类似于宇航员.
符合规范的机器人和基于行为的编程非常适合用于太空应用.

研究的目的:

引入和评估Pose Target Wrench Limiting (PTWL),这是一个适合太空机器人设计的符合规范的行为范式.
为了证明PTWL在管理空间操作中固有的不确定性和通信问题的有效性.

主要方法:

PTWL通过引导虚拟吸引器到目标姿势,使用来自接入控制器的虚拟力量来控制机器人.
机器人会跟随吸引器,直到安全条件被破坏或满足成功标准.
PTWL在各种准静态任务中进行了测试,这些任务与未来的太空作业有关.

主要成果:

PTWL被证明是太空机器人任务的强大工具.
该方法显著提高了准静态任务的远程操作的简单性和安全性.
PTWL促进了半自主状态机器的开发,以实现可靠的复杂任务完成,最小的人力投入.

结论:

PTWL对太空机器人非常有效,解决了通信延迟和环境不确定性等挑战.
这种模式简化了远程操作,并实现了半自主控制,减少了宇航员的工作量.
PTWL代表了在太空环境中机器人操作的重大进步.

关键词:

进入控制的入口控制行为行为行为行为行为.符合合规性的合规性是什么远程监控远程监控远程监控卫星服务边界电话操作是远程操作.

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