CN108818533A - Heterogeneous robot remote control system position and speed synchronisation control means - Google Patents

Abstract

The invention belongs to the technical field of robot teleoperation control. The invention discloses a method for synchronously controlling the position and speed of a remote operating system of a heterogeneous robot. The main steps include: applying force f _h to make the main robot generate position information x _master and position variation; position information x _master and the position change of the main robot The amount is transmitted to the slave robot through the communication network; the slave robot moves and generates position information x _slave ; the master robot position information x _master is used to control the slave robot position information x _slave , and the position synchronization between the master robot and the slave robot is realized; the position change of the master robot is controlled The speed V _s of the slave robot realizes the speed synchronization of the master robot and the slave robot. The invention realizes that the position information of the master robot controls the position movement of the slave robot in the three-dimensional task space, and at the same time enables the position change of the master robot in the process to control the speed change of the slave robot in the three-dimensional task space, realizing the slave robot The position and velocity of the robot are synchronized with those of the main robot.

Description

Position and velocity synchronous control method of heterogeneous robot teleoperation system

technical field

The invention belongs to the technical field of robot teleoperation control. In particular, it relates to a position and speed synchronous control method of a remote control system of a heterogeneous robot.

Background technique

The heterogeneous robot teleoperation system combines human experience and wisdom with the advantages of robots, and realizes the extension of human behavior and perception capabilities, allowing robots to replace humans in complex or harsh environments, thereby avoiding damage to the human body. damage, reduce production costs, and improve production efficiency. It has been widely used in fields such as space, deep sea, medical surgery, mining industry and nuclear industry. Therefore, it is the most important function in the robot teleoperation system to realize the synchronous tracking of the position of the master robot and the slave robot and the precise control of the speed of the slave robot.

Because of the different models and structures of the master robot and the slave robot used in the heterogeneous robot teleoperation system, the methods of building the teleoperation system platform are different. For speed and position control methods, the more representative ones are: [M.Mamdouh and A.A.Ramadan, "Development of a teleoperation system with a newworkspace spanning technique," 2012IEEE International Conference on Robotics and Biomimetics (ROBIO), Guangzhou, 2012 ,pp.1570-1575.] Mainly use the extra switch variable on the master robot side to switch the switch, trigger the switch to set different modes, and realize different forms of master-slave robot position and speed control, so as to achieve the master robot in a small The control of the movement mode of the slave robot in a wide range and a large range. Literature [Farkhatdinov I, Ryu J H. Hybrid position-position and position-speed command strategy for the bilateral teleoperation of a mobile robot [C]. International Conference on Control, Automation and Systems. IEEE, 2007: 2442-2447.] for wheeled The teleoperation system for remote navigation of mobile robots proposes a hybrid control method of position-position and position-velocity modes. By switching between the two modes, the main robot can control the position of the wheeled mobile robot on the two-dimensional plane or Control its linear speed and heading angle.

The shortcomings of these methods mainly lie in the need to manually switch the switch, which increases the complexity of the control of the heterogeneous remote control system and lacks flexibility for the operation of the slave robot.

Contents of the invention

The main purpose of the present invention is to provide a method for synchronously controlling the position and speed of the heterogeneous robot teleoperation system to improve the operation performance of the heterogeneous robot teleoperation system.

In order to achieve the above object, according to an aspect of the specific embodiment of the present invention, a method for synchronously controlling the position and speed of the remote operating system of a heterogeneous robot is provided, which is characterized in that it includes the following steps:

Apply force f _h to make the main robot generate position information x _master and position change amount;

The position information x _master and the position change of the master robot are transmitted to the slave robot through the communication network;

Move from the robot and generate position information x _slave ;

Use the position information x _master of the master robot to control the position information x _slave of the slave robot to realize the position synchronization between the master robot and the slave robot;

The speed V _s of the slave robot is controlled by the position change of the master robot to realize the speed synchronization of the master robot and the slave robot.

Further, the force f _h is the force exerted by the operator.

Further, steps are also included:

The acting force f _h causes the slave robot to act on the target object, and causes the slave robot to generate a force f _envi acting on the target object, and the force f _envi is fed back to the operator for the next operation.

Further, the position information x _master of the master robot is the three-dimensional space coordinates of the master robot; the position information x _slave of the slave robot is the three-dimensional space coordinates of the task space of the slave robot.

Further, the position information x _master of the master robot and the position information x _slave of the slave robot satisfy the relational expression:

Among them, x _m , y _m , z _m are the position vectors of the master robot in the task space; x _s , y _s , z _s are the position vectors of the slave robot in the task space; in the three-dimensional coordinates of the robot task space, x _m corresponds to x _s ; y _s corresponds to z _m ; z _s corresponds to y _m ; k _x , k _y , k _z are proportional constants of the main robot in the task space; λ _x , λ _y , λ _z are the main robot in the task space parameter constants.

Further, the position variation of the master robot and the speed V _s of the slave robot satisfy the relational expression:

Among them, v _zx , v _zy , v _xy represent the speed of the slave robot on each three-dimensional coordinate in the task space; k ₁ , k ₂ , k ₃ are the proportional constants of the speed change of the slave robot on each three-dimensional coordinate in the task space; h ₁ , h ₂ , h ₃ respectively represent the position values of the main robot on the zx, zy, xy three-dimensional coordinates in the task space; Δx _m , Δz _m , Δy _m respectively represent the coordinate axes x, z of the main robot in the task space , the unit time position change on y; x _d , z _d , y _d are the boundary constant values defined by the main robot on each coordinate in the task space.

The beneficial effect of the present invention is that it overcomes the problem of manual mode switching in the prior art, utilizes the force of the operator acting on the main robot to make the main robot generate position information, and realizes the position information of the main robot to control the slave robot in the three-dimensional task space. The position of the master robot moves in the process, and at the same time, the position change of the master robot controls the speed change of the slave robot in the three-dimensional task space, so that the position and speed of the slave robot are synchronized with the position and speed of the master robot, so that the slave robot The robot acts on the target more precisely and quickly.

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The accompanying drawings constituting a part of this application are used to provide a further understanding of the present invention, and the specific implementation modes, schematic embodiments and descriptions thereof of the present invention are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is a schematic diagram of the control principle of the present invention;

Fig. 2 is a schematic diagram of position-position control;

Fig. 3 is a schematic diagram of three-dimensional coordinates in the main robot task space;

Fig. 4 is a schematic diagram of three-dimensional coordinates from the robot task space;

Figure 5 is a schematic diagram of position-speed control.

Detailed ways

It should be noted that, in the case of no conflict, the specific implementation methods, examples and features in the present application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and in conjunction with the following contents.

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the specific embodiments of the present invention and the examples will be clearly and completely described below in conjunction with the accompanying drawings in the specific embodiments of the present invention and the examples. , the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the specific implementation modes and examples in the present invention, all other implementation modes and examples obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

Example

The heterogeneous robot remote control system position and speed synchronization control method of the present invention, the operating principle is shown in Figure 1, including an operator, a master robot, a computer, a communication network, a slave robot and an object. The force f _h that the operator acts on the master robot makes the master robot generate the position information x _master and the position change amount, and the position information x _master and the position change amount of the master robot are transmitted to the slave robot through the communication network; thus controlling the slave robot in the three-dimensional task space The position x _slave in the process makes the position change of the master robot control the speed V _s of the slave robot in the three-dimensional task space, so that the position and speed of the slave robot are synchronized with those of the master robot. Make the slave robot act on the target more accurately, and make the slave robot generate a force f _envi acting on the target, and feed back the force f _envi to the operator through the communication network, so that it can perform the next operation.

Master-slave robot position-position synchronous control, as shown in Figure 2.

The force f _h that the operator acts on the master robot causes the master robot to generate position information x _master , transmits information through the communication network, makes the slave robot move and generate position information x _slave , and makes the slave robot generate force f acting on the target _envi , thus realizing the position-position synchronous control of the master robot to the slave robot, the formula is:

Among them, x _m , y _m , z _m are the position vectors of the master robot in the task space; x _s , y _s , z _s are the position vectors of the slave robot in the task space, and x _m corresponds to the three-dimensional coordinates of the robot task space x _s ; y _s corresponds to z _m ; z _s corresponds to y _m ; k _x , k _y , k _z are proportional constants of the main robot in the task space, λ _x , λ _y , λ _z are the parameters of the main robot in the task space constant, the schematic diagrams of the three-dimensional coordinates of the master-slave robot in the task space are shown in Figures 3 and 4, respectively.

The position-velocity control of the master-slave robot is shown in Figure 5.

By operating the master robot to move the position, the change of the position information x _master generated by the movement of the master robot is converted into the speed information V _s of the slave robot, so that the slave robot can act on the target more accurately, and make the slave robot act on the The force f _envi of the target. In this way, the speed synchronization of the master and slave robots is achieved, and the speed control of the slave robots by the position of the master robot is realized.

The position-speed control of the master-slave robot is divided into the following three situations:

Case 1

When the distance L from the robot to the target is greater than or equal to the set safety distance constant L _p from the robot to the target (that is, L≥L _p ), it indicates that the distance from the robot to the target is beyond the safe distance. The speed V _m of the robot in the task space is greater than or equal to the normal speed constant V _p of the master robot (that is, V _m ≥ V _p ), and the real-time speed parameter V _s of the slave robot is greater than or equal to the normal speed constant V _q of the slave robot (ie V _s ≥ V _q ).

Case 2

When the distance L from the robot to the target is less than the set safety distance constant L _p from the robot to the target (that is, L<L _p ), it indicates that the distance from the robot to the target is within the set safety distance. The operator moves the position of the master robot by operating the master robot, and realizes the speed synchronization of the master robot and the slave robot through the position-speed control, so as to achieve the purpose of the slave robot moving in a small range within a limited range. At this time, the speed of the master robot in the task space When V _m is less than the set normal speed constant V _p of the master robot (that is, V _m <V _p ), the real-time speed parameter V _s of the slave robot is smaller than the normal speed constant V _q of the slave robot (that is, V _s <V _q ) Time.

The master-slave robot position-velocity synchronous control, the formula is:

Among them, the schematic diagrams of the three-dimensional coordinates in the task space of the master-slave robot are shown in Figures 3 and 4, respectively. V _m , V _s represent the speed of the slave robot, v _zx , v _zy , v _xy represent the speed of the slave robot on the three-dimensional coordinates in the task space, k ₁ , k ₂ , k ₃ are the three-dimensional coordinates of the slave robot in the task space The proportional constants of speed changes on the coordinates, h ₁ , h ₂ , h ₃ respectively represent the position values of the main robot on the zx, zy, xy three-dimensional coordinates in the task space, Δx _m , Δz _m , Δy _m represent the position values of the main robot in the task space The position change per unit time on the coordinate axes x, z, y in the task space, x _d , z _d , y _d are the boundary constant values defined by the main robot on each coordinate in the task space, that is, the constant value of the main robot at this time When making small movements within the range, the speed of the slave robot will not change accordingly to prevent error operations caused by human hand shaking.

Claims (6)

1. The position and speed synchronous control method of heterogeneous robot teleoperation system, is characterized in that, comprises the steps: Apply force f _h to make the main robot generate position information x _master and position change amount; The position information x _master and the position change of the master robot are transmitted to the slave robot through the communication network; Move from the robot and generate position information x _slave ; Use the position information x _master of the master robot to control the position information x _slave of the slave robot to realize the position synchronization between the master robot and the slave robot; The speed V _s of the slave robot is controlled by the position change of the master robot to realize the speed synchronization of the master robot and the slave robot. 2. The method for synchronously controlling the position and speed of heterogeneous robot teleoperation systems according to claim 1, wherein the force f _h is the force exerted by the operator. 3. The heterogeneous robot teleoperation system position and speed synchronous control method according to claim 2, is characterized in that, also comprises the step: The acting force f _h causes the slave robot to act on the target object, and causes the slave robot to generate a force f _envi acting on the target object, and the force f _envi is fed back to the operator for the next operation. 4. The heterogeneous robot teleoperation system position and speed synchronization control method according to any one of claims 1 to 3, characterized in that, the position information x _master of the master robot is the three-dimensional space coordinates of the master robot; The robot position information x _slave is the three-dimensional space coordinate of the slave robot task space. 5. The heterogeneous robot teleoperation system position and velocity synchronous control method according to claim 4, is characterized in that, described master robot position information x _master and from robot position information x _slave satisfy relational expression: Among them, x _m , y _m , z _m are the position vectors of the master robot in the task space; x _s , y _s , z _s are the position vectors of the slave robot in the task space; in the three-dimensional coordinates of the robot task space, x _m corresponds to x _s ; y _s corresponds to z _m ; z _s corresponds to y _m ; k _x , k _y , k _z are proportional constants of the main robot in the task space; λ _x , λ _y , λ _z are the main robot in the task space parameter constants. 6. heterogeneous robot teleoperation system position according to claim 4 and speed synchronous control method, it is characterized in that, described main robot position variation and the speed V _s from robot satisfy relational expression: Among them, v _zx , v _zy , v _xy represent the speed of the slave robot on each three-dimensional coordinate in the task space; k ₁ , k ₂ , k ₃ are the proportional constants of the speed change of the slave robot on each three-dimensional coordinate in the task space; h ₁ , h ₂ , h ₃ respectively represent the position values of the main robot on the zx, zy, xy three-dimensional coordinates in the task space; Δx _m , Δz _m , Δy _m respectively represent the coordinate axes x, z of the main robot in the task space , the unit time position change on y; x _d , z _d , y _d are the boundary constant values defined by the main robot on each coordinate in the task space.