Research on space teleoperation technology assisted with velocity-based virtual fixture

The presence of long time delay during space-ground communication has a principal influence on teleoperation performance. Traditional virtual fixtures used in space teleoperation definitely improve the performance, but they do not have the ability of dynamic prediction, which limits their use in overcoming the illusions generated by time delay. A velocity-based virtual fixture seated in the end effector of the operated object is introduced which can change its size in time to predict the 3 s-delay translation dynamically with the velocity of the end effector. With the oriented bounding box (OBB) method, it can detect the forthcoming collision in 3 s and generate the corresponding resistance feedback to the operator to overcome the operation errors caused by time delay and improve the teleoperation performance. The effectiveness of the proposed method is demonstrated through several close-range dock to target platform experiments.