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面向空间站背景下的机械臂遥操作任务,总结并提出了11项操作者在手柄操作中的客观绩效指标,基于机械臂遥操作仿真平台进行了机械臂转移对接操作实验。实验结果表明:提供数值信息对多项操作绩效指标有提升作用,4摄像机布置方案在到达关节限位次数指标上优于2摄像机布置方案;关节限位次数、错误操作次数、手柄控制效率等几项指标,可以预测是否能够成功完成对接任务。提出的手柄控制效率指标能够预测操作用时以及到达限位位置风险等核心指标,可用于综合评价实验任务中人的操作效率。
Based on the teleoperation task of robotic arm under the background of space station, objective performance indicators of 11 manipulators in the handle operation were summarized and put forward. Based on the manipulator arm remote simulation platform, experiments of manipulator arm docking and docking were carried out. The experimental results show that: providing numerical information can enhance the performance indicators of multiple operations; 4 camera layout scheme is superior to the 2-camera layout scheme when reaching the limit number of joints; the number of joint limits, the number of error operations and the efficiency of handle control Item index, you can predict whether the docking task can be successfully completed. The proposed efficiency index of the control of the handle can predict the core indicators such as the operation time and the risk of reaching the limit position, which can be used to comprehensively evaluate the human operation efficiency in the experiment task.