Haptic Rendering Algorithm based on Force Feedback Handle in the Teleoperation of the Space Manipulator

Abstract

In this paper, we study the haptic rendering algorithm of the handle for the requirement of designing the force feedback handle which is applied to the teleoperation of the space manipulator, to improve the user experience of the force feedback handle. By the research of arbitrary force and moment at the end of the handle, we propose the operation assisting force based on gravitational potential field method and the precise operation guiding method based on gravitational potential energy model. At the same time, the vibration signal is used in the state information of the slave and state. The experimental results show that the force-aware rendering algorithm applied to the teleoperation of the space manipulator can greatly improve the operation efficiency of the teleoperation task and effectively enhance the telepresence of teleoperation.