Teleoperation Method of Space Manipulator Considering both Safety and Efficiency

It is difficult to realize the security and operability of the space manipulator master-slave teleoperation system simultaneously. A motion mapping algorithm for master manipulator and slave manipulator based on piecewise curve and contact warning strategy based on distance are proposed. Firstly, based on the terminal velocity mapping, the distance coefficient is introduced into the velocity mapping matrix of the motion mapping algorithm to accomplish the dynamic adjustment of the teleoperation system motion mapping. Then, based on Voxmap-PointShell algorithm, a fast distance calculation algorithm is designed. The force warning when the end of the manipulator approaches the environment and the contact force prediction when the end of the manipulator contacts the environment are completed. The safety and operability of space manipulator master-slave teleoperation system are both realized.