面向空间机械臂遥操作的虚拟相机成像技术

This study investigates the imaging technology of the virtual camera in the Open Inventor to enable mission experts to accurately monitor, predict, and teleoperate the motion of the space manipulator, with a focus on ground teleoperation with virtual graphic prediction simulation to overcome the long uncertain space-ground time delay. The imaging principles of the actual and virtual cameras are analyzed, and the virtual camera's perspective projection and viewport matrices are derived. Moreover, imaging consistency analysis and quantitative and qualitative verifications are conducted based on the imaging principles of the actual and virtual cameras. The research shows that the simulation system of the China Space Station and the space manipulator based on Open Inventor can conduct virtual imaging and accurately simulate actual imaging for the end and elbow cameras of the space manipulator, which lays a foundation for the space manipulator to perform on-orbit missions safely and accurately through ground teleoperation.