CN101863028B - Teleoperation type bilateral control simulator with range sensor - Google Patents

Abstract

The invention relates to a remote operation bilateral control simulation device with a distance sensor, which belongs to the technical field of robots. It includes a base, four sets of rotating mechanisms, a first master operating arm, a second master operating arm, a first slave operating arm, a second slave operating arm and two distance sensors. Four groups of rotating mechanisms are fixed on the base. The first main-end operating arm and the second main-end operating arm are respectively fixed on the connectors in the two groups of rotating mechanisms on one side of the base, and the first slave-end operating arm and the second slave-end operating arm are respectively fixed on the other side of the base. On the connectors in the two sets of rotating mechanisms on the side. The two distance sensors are respectively fixed on the first slave-end operating arm and the second slave-end operating arm. The simulation device of the present invention effectively overcomes the influence of time delay on the bilateral control system, and can carry out double-arm coordinated bilateral control experiments.

Description

A teleoperation bilateral control simulation device with a distance sensor

technical field

The invention relates to a remote operation bilateral control simulation device with a distance sensor, which belongs to the technical field of robots.

Background technique

Teleoperation is a technology that remotely controls the manipulator to perform operations through a communication network. It is mainly used in difficult-to-reach or toxic working environments, such as space missions, deep-sea operations, nuclear processing, and telemedicine. Since the 1980s, the United States, Russia, Germany, Japan and China have carried out research on teleoperation technology. In the research of teleoperation technology, many scholars are working hard to improve the sense of presence of the teleoperation system, so as to improve the performance of teleoperation and make the operator feel personally on the scene.

There are two types of telepresence: visual telepresence and force telepresence. The teleoperation technology with force sense telepresence provides the operator with a good tactile interface, allowing the operator to truly feel the contact state between the remote operation arm and the target, which greatly improves the operator's mastery of the job site. After decades of development, teleoperation technology with force-presence has been gradually applied to extreme environments such as high temperature, high pressure, strong radiation, and suffocation that are difficult for people to approach. In the teleoperation system with force sense telepresence, the master terminal controls the movement of the slave terminal, and at the same time, the slave terminal feeds back the received contact force to the master terminal, forming a phenomenon of mutual control between the master terminal and the slave terminal. This control method is called for bilateral control.

For the traditional bilateral control system, only when the slave manipulating arm touches the remote working environment, the working environment will generate a contact force on the slave manipulating arm, and finally the master manipulating arm will feed back the force to the operator. However, there is generally a two-way time delay in the teleoperation system. When the operator feels the contact force of the slave end and sends out the correct operation command, when the command reaches the slave end operating arm, the slave end operating arm may have had a serious collision with the working environment. . In order to overcome these problems caused by the time delay, the distance between the slave manipulator and the target can be used as a reference, and it can be transformed into the feedback force of the master manipulator. When the slave manipulator is far away from the target, the feedback force is very small. small, or even zero; when the slave arm approaches the target, the feedback force gradually increases; when the slave arm touches the working environment, the master generates a large feedback force.

In addition, for complex teleoperation tasks, it is difficult to use one manipulator to complete the task, and two manipulators are often required to work together. For this two-arm cooperative operation mode, two operating arms with different structures, sizes, weights, etc. can be used, one of which is used as the main operating arm and the other as the auxiliary operating arm; two identical operating arms can also be used. There is no distinction between the primary and secondary arms, and the two arms cooperate with each other to complete the same amount of work tasks.

The existing bilateral control experimental devices directly feed back the contact force encountered by the operating arm at the slave end. Since there is generally a transmission delay between the master and slave ends of the bilateral control system, the force feedback felt by the operator is lagging behind, and it is easy to Causes a severe collision of the slave manipulator arm with the environment.

Existing bilateral control experimental devices are generally composed of two manipulators, one of which is used as the master manipulator and the other as the slave manipulator. This kind of bilateral control system with only two manipulators cannot verify the coordination of the two arms. homework experiment.

Contents of the invention

The purpose of the present invention is to propose a remote operation bilateral control simulation device with a distance sensor, change the structure of the existing bilateral control device, install a distance sensor on the operating arm from the end, and adopt the dual-arm coordinated control technology to overcome the existing The shortcomings of the bilateral control device can be used for the experimental verification of the bilateral control theory, and can be used as teaching and scientific research equipment in colleges and universities and research institutes.

The remote operation bilateral control simulation device with a distance sensor proposed by the present invention includes a base, four sets of rotating mechanisms, a first master-end operating arm, a second master-end operating arm, a first slave-end operating arm, and a second slave-end operating arm. An operating arm and two distance sensors; two groups of the four groups of rotating mechanisms are fixed on one side of the base through motor brackets, and the other two groups of the four groups of rotating mechanisms are fixed on the other side of the base through motor brackets , each set of rotating mechanism is composed of an encoder, a torque motor and a connecting piece, the encoder and the torque motor are relatively fixed, and one end of the connecting piece is linked with the torque motor; the first main-end operating arm and the second main-end operating arm are respectively fixed on the The other end of the connectors in the two groups of rotating mechanisms on one side of the base, the first slave-end operating arm and the second slave-end operating arm are respectively fixed on the connectors in the two groups of rotating mechanisms on the other side of the base the other end; the two distance sensors are respectively fixed on the first slave-end operating arm and the second slave-end operating arm.

The remote operation bilateral control simulation device with a distance sensor proposed by the present invention has two advantages: firstly, after the distance sensor is used in the remote operation bilateral control simulation device of the present invention, the distance between the operating arm at the end and the target can be detected in real time, so that The distance of this distance is used as the basis of the feedback force, which can effectively overcome the influence of time delay on the bilateral control system. Secondly, the teleoperation bilateral control simulation device of the present invention has four independent single-degree-of-freedom operating arms, two of which are main-end operating arms, and the other two are slave-end operating arms, and each master-end operating arm controls the corresponding slave The end-manipulator arm movement can be used for bilateral control experiments with double-arm coordination.

Description of drawings

Fig. 1 is a structural schematic diagram of a remote operation bilateral control simulation device with a distance sensor proposed by the present invention.

In Figure 1, 1 is the base, 2 is the motor bracket, 3 is the torque motor, 4 is the encoder, 5 is the connector, 6 is the first main end operating arm, 7 is the second main end operating arm, and 8 is the second main end operating arm. A slave operating arm, 9 is a second slave operating arm, and 10 is a distance sensor.

Detailed ways

The remote operation bilateral control simulation device with a distance sensor proposed by the present invention has a structure as shown in the figure, including a base 1, four sets of rotating mechanisms, a first main end operating arm 6, a second main end operating arm 7, and a second main end operating arm 7. A slave operating arm 8 , a second slave operating arm 9 and two distance sensors 10 . Two groups of the four groups of rotating mechanisms are fixed on one side of the base 1 through the motor bracket 2, and the other two groups of the four groups of rotating mechanisms are fixed on the other side of the base 1 through the motor bracket 2, and each group of rotating mechanisms is coded The encoder 4, the torque motor 3 and the connecting piece 5 are composed, the encoder 4 and the torque motor 3 are relatively fixed, and one end of the connecting piece 5 is linked with the torque motor 3. The first main-end operating arm 6 and the second main-end operating arm 7 are respectively fixed on the other end of the connectors in the two groups of rotating mechanisms on one side of the base 1, and the first slave-end operating arm and the second slave-end operating arm are fixed respectively. The other end of the connecting piece in the two groups of rotating mechanisms on the other side of the base 1. Two distance sensors 10 are respectively fixed on the first slave operating arm 8 and the second slave operating arm 9 .

In an embodiment of the remote operation bilateral control simulation device with a distance sensor proposed by the present invention, the used torque motor is a 70LY53 torque motor produced by Beijing Yongguang Gaote Micro Motor Co., Ltd. The encoder is HXK-3808 photoelectric encoder produced by Beijing Yongguang Gaote Micro Motor Co., Ltd. The distance sensor is a 2D120X distance sensor produced by Sharp Company.

The remote operation bilateral control simulation device with a distance sensor proposed by the present invention has the following working principles:

(1) Conduct bilateral control experiments based on distance sensors.

Only two manipulators are used in this experiment, and any one of the master manipulator and one slave manipulator can be selected for the experiment. During the experiment, the operator pulls the master arm to move and controls the slave arm to move accordingly. At the same time, according to the distance information detected by the distance sensor installed on the slave arm, the master motor generates corresponding resistance.

(2) Carry out two-operator double-arm coordination bilateral control experiment.

No distance sensor is used in this experiment. During the experiment, two operators pull the two master-end operating arms respectively, and drive the corresponding slave-end operating arms to move. At the same time, according to the size of the movement range, the main end motor generates corresponding resistance.

(3) A single-operator double-arm coordinated bilateral control experiment was carried out.

The distance sensor is not used in this experiment, and one of the two main-end manipulator arms is randomly selected for the experiment. During the experiment, the operator pulls the master operating arm to drive the two slave operating arms to move. At the same time, the magnitude of the movement range of the two slave-end operating arms is synthesized into a total movement amount according to a certain ratio, and the master-end motor generates corresponding resistance according to the total movement amount.

Claims (1)

1. A remote operation bilateral control simulation device with a distance sensor, characterized in that the device comprises a base, four groups of rotating mechanisms, the first master end operating arm, the second master end operating arm, the first slave end operating arm , the second operating arm from the end and two distance sensors; two groups of the four groups of rotating mechanisms are fixed on one side of the base through the motor bracket, and the other two groups of the four groups of rotating mechanisms are fixed on the base through the motor bracket On the other side of the seat, each set of rotating mechanisms is composed of an encoder, a torque motor and a connecting piece. The encoder and the torque motor are relatively fixed, and one end of the connecting piece is linked with the torque motor; the first main end operating arm and the second main end operate The arms are respectively fixed on the other end of the connecting piece in the two groups of rotating mechanisms on one side of the base, and the first slave-end operating arm and the second slave-end operating arm are respectively fixed on the other side of the base to rotate in two groups. The other end of the connecting piece in the mechanism; the two distance sensors are respectively fixed on the first slave end operating arm and the second slave end operating arm.

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