The Control and Simulation of Space Robot Based on Dynamically Equivalent Manipulator Model

Path planning technology is one of the core technologies of intelligent space robot. Combining image recognition technology and artificial intelligence learning algorithm for robot path planning in unknown space environment has become one of the hot research issues. The purpose of this paper is to propose a spatial robot path planning method based on improved fuzzy control, aiming at the shortcomings of path planning in the current industrial space robot motion control process, and based on fuzzy control algorithm. This paper proposes a fuzzy obstacle avoidance method with speed feedback based on the original advantages of the fuzzy algorithm, which improves the obstacle avoidance performance of space robot under continuous obstacles. At the same time, we integrated the improved fuzzy obstacle avoidance strategy into the behavior-based control technology, making the avoidance become an independent behavioral unit. Divide the path planning into a series of relatively independent behaviors such as fuzzy obstacle avoidance, cruise, trend target, and deadlock by the behavior-based method. According to the interaction information between the space robot and the environment, each behavior acquires the dominance of the robot through the competition mechanism, making the robot complete the specific behavior at a certain moment, and finally realize the path planning. Furthermore, to improve the overall fault tolerance of the space, robot we introduced an elegant downgrade strategy, so that the robot can successfully complete the established task in the case of control command deterioration or failure of important information, avoiding the overall performance deterioration effectively. Therefore, through the simulation experiment of the virtual environment platform, MobotSim concluded that the improved algorithm has high efficiency, high security, and the planned path is more in line with the actual situation, and the method proposed in this paper can make the space robot successfully reach the target position and optimize the spatial path, it also has good robustness and effectiveness.

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Telepresence Robots in the Classroom

Journal of Educational Technology Systems ◽

10.1177/00472395211034778 ◽

2021 ◽

pp. 004723952110347

Author(s):

Penny Thompson ◽

Sarinporn Chaivisit

Keyword(s):

Pilot Study ◽

Space Robot ◽

Classroom Experience ◽

Face To Face ◽

Telepresence Robot ◽

Telepresence Robots ◽

Remote User

This study used the concept of shared affordance space to explore students’ perceptions of the use of a telepresence robot in a face-to-face classroom. Results from this qualitative pilot study suggest the telepresence robot has the potential to provide enough autonomy and agency for both the remote user and the in-class students to perceive a shared affordance space. Robot users and classmates use human pronouns to describe the robot user and discuss a process of adjusting to its presence. The physical configuration of the classroom can either facilitate or hinder this process. The research provides greater understanding of the experiences of students in a face-to-face classroom that includes remote students attending class using a telepresence robot. It can help educators design and implement these experiences in a way that creates a beneficial classroom experience for both in-class and remote learners.

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