Shared control for space teleoperation using artificial potential field

摘要

Using a robot manipulator to replace a unit under large communication time delay and micro gravity environments is a huge challenge.In this paper,a shared control paradigm was developed based on the artificial potential field(SCBAPF) to extend the human's ability for long-distance control and operation.The augmented teleoperation signal was produced by the attraction or repulsion of sensor array on the robot arm under SCBAPF.The paradigm was implemented effectively on a 6-DOF Motoman manipulator.Tests on the space teleoperation ground test system(STGTS) show that the shared control paradigm can overcome the influence of communication time delay of more than 5 s and remarkably improve the operation efficiency.