Virtual fixture of dynamic obstacle avoidance for space teleoperation

According to the operating efficiency demand for space teleoperation, we present a control method for a new kind of virtual fixture firstly; this improves the operating efficiency compared with the traditional control methods. Furthermore, for coping with the space teleoperation safety problems caused by the complicated space environment and some unstructured environmental factors, a virtual fixture based on artificial potential field is applied to achieving dynamic obstacle avoidance. The method calculates the value of the potential field force by measuring the distance between the mechanical arms and the obstacles timely, and the obstacles are simplified respectively as particle and parallelepiped models. The potential field force provides extra force feedback for the operators when the obstacles move into the potential field, thus providing aid to the operator for preventing the extremities of the mechanical arms from colliding with the dynamic obstacles in the unknown environment. The proposed method is simulated through the virtual reality platform constructed with CHAI 3D, and the simulation results indicate that the proposed method improves the operation performance and ensures operation safety.