CN111745643A - Position control method for main robot and slave robot teleoperation system - Google Patents
Position control method for main robot and slave robot teleoperation system Download PDFInfo
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- CN111745643A CN111745643A CN202010468099.3A CN202010468099A CN111745643A CN 111745643 A CN111745643 A CN 111745643A CN 202010468099 A CN202010468099 A CN 202010468099A CN 111745643 A CN111745643 A CN 111745643A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention relates to the technical field of teleoperation control of robots, in particular to a position control method for teleoperation systems of a master robot and a slave robot. The invention discloses a position control method for teleoperation systems of a master robot and a slave robot, which comprises the following steps: a. dividing teleoperation into a free motion stage and an interactive motion stage; b. the free motion phase uses a fast control mode: will be derived from the robot position component XvSet to 0, set the position proportionality coefficient k according to the movement range of the master and slave robotsx(ii) a c. The interactive motion phase adopts a fine control mode: position scale factor kxLess than or equal to 1. The invention has the advantages that the control precision of the teleoperation movement position is improved while the working space of the master robot and the slave robot is ensured to be highly covered; furthermore, the introduction of feedback guide force can effectively ensure the safety of control; low cost of control system, simple control flow,Is effective.
Description
Technical Field
The invention relates to the technical field of teleoperation control of robots, in particular to a position control method for teleoperation systems of a master robot and a slave robot.
Background
The main robot and the slave robot remote operation system enable an operator to operate the slave robot to interact with the environment through the main robot, and the system is widely applied to remote environments such as space, underwater and the like, environments with limited operation space such as human body minimally invasive surgery and the like, and dangerous environments such as nuclear power stations, factories and the like. Because the master robot and the slave robot have diversity, the application range of the teleoperation system is expanded, and the practicability of the teleoperation system is improved. However, since the master robot working space is generally physically limited compared to the working space of the slave robot, it is a challenge to remotely operate the slave robot having a large working space accurately and safely using the master robot having a limited working space.
The related art documents about the position control technology of the teleoperation system mainly include:
1. the document [ Ju Zhang feeding, Yang Chengguang, Li Zhijun, et al. Teleoperation of human base robot using a kinetic feedback [ C ]//2014International conference Multi sensor Fusion and Information Integration for Integrated Systems (MFI). Piscataway, NJ: IEEE Press,2014:1-6 ] is a position control scheme with uniform proportionality coefficients, which is used for enlarging the working space of the master robot by calculating the sizes of the working spaces of the master robot and the slave robot and then selecting the proper proportionality coefficients to enable the working space of the master robot to be highly covered with the working space of the slave robot. However, there is a problem in that when the scaling factor is too small, the workspace available from the robot becomes small, i.e., the reach from the end effector of the robot becomes small; when the proportionality coefficient is too large, the actual motion trajectory of the slave robot is also proportionally amplified, so that the precision of motion control is reduced.
2. Documents [ s.range, f.conti, p.helper, p.rouiller, c.baur, "The Delta haptics device as a Nanomanipulator", SPIE microbotics and microassambly III, November 2001 ] select a motion origin at The master robot end, so that The velocity of The slave robot is proportional to The difference between The real-time position of The master robot and The displacement of The motion origin.
3. Chinese patent application No. (patent application No. 201810680814.2) discloses a method for synchronously controlling position and speed of a remote operation system of a heterogeneous robot, which performs position movement by operating a main robot and appropriately increases the speed of an end effector of the main robot. Although the method matches the working spaces of the master robot and the slave robot, the method cannot overcome the problem of position control accuracy caused by space matching. Since the position of the slave robot is proportionally amplified when spatially matched, the control accuracy is reduced.
Disclosure of Invention
The invention mainly aims to provide a position control method for a teleoperation system of a master robot and a slave robot, which can ensure the working space of the master robot and the slave robot to be highly covered and ensure the teleoperation control precision, and has important significance in the practical application of teleoperation.
In order to achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a master robot and a slave robot teleoperation system position control method, comprising the steps of:
a. dividing teleoperation into a free motion stage and an interactive motion stage;
b. the free motion phase uses a fast control mode: will be derived from the robot position component XvSet to 0, set the position proportionality coefficient k according to the movement range of the master and slave robotsx；
c. The interactive motion phase adopts a fine control mode: position scale factor kx≤1。
Further, in step b, the position scaling factor kx＝Cs/Cm(ii) a Wherein, CsFrom the range of motion of the robot, CmIs the main robot motion range.
Specifically, the position control method is represented as:
Xs＝kxXm+Xn+Xv
wherein, XSIs a slave robotPosition, XmFor the main robot position, XnIs a position constant, X0Is the origin of the interaction pattern, VmAs the main robot velocity, kvIs a velocity proportionality coefficient, voIs the set main robot speed threshold.
Further, the method also comprises the following steps:
d. introducing a feedback guiding force FmSo that the operator can perform teleoperation operation more safely.
In particular, the guiding force F is fed backmIs determined by the following formula:
Fm＝FL+FV；
wherein FLIs a force inversely proportional to the distance L, L being the distance between the robot end-effector and the target, FVIs the force related to the velocity of the main robot.
Specifically, FLCalculated from the following formula:
wherein KLIs a constant of distance proportion, L0L is the distance from the robot end effector to the target object, which is a distance constant.
Specifically, FVCalculated from the following formula:
FV＝-KdVm
wherein KdIs a constant of speed ratio, VmThe velocity of the master robot.
According to the technical scheme of the invention and the technical scheme of further improvement in certain embodiments, the invention has the following beneficial effects:
1. the control precision of the teleoperation movement position is improved while the working space of the master robot and the working space of the slave robot are highly covered;
2. the introduction of the feedback guide force can effectively ensure the safety of control;
3. the control system has low cost and simple and effective control flow.
The invention is further described with reference to the following figures and detailed description. 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.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of the control principle of the present invention.
Detailed Description
It should be noted that the specific embodiments, examples and features thereof may be combined with each other in the present application without conflict. The present invention will now be described in detail with reference to the attached figures in conjunction with the following.
In order to make the technical solutions of the present invention better understood, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments and examples obtained by a person skilled in the art without any inventive step should fall within the protection scope of the present invention.
The control principle of the master robot and slave robot teleoperation system of the present invention is shown in fig. 1, and comprises an operator, a master robot, a communication channel, a slave robot and an environment (not shown in the figure).
Operator acting on main robot to generate position information X of main robotmAnd velocity information VmControlling position information X from the position of the robot by the control method of the present inventionsAnd a feedback guiding force Fm。
The invention discloses a position control method for teleoperation systems of a master robot and a slave robot, which divides teleoperation into two stages of free motion and interaction, and respectively designs two different control modes of a fast control mode and a fine control mode according to different characteristics of the two stages.
Firstly, in the free movement stage, the working space ranges of the main robot and the slave robot are overlapped to the maximum extent through a quick control mode, so that the movement range of the slave robot which can be controlled by the main robot is maximized. After the free motion stage is finished, a fine control mode is adopted, so that the actual position tracks of the master robot and the slave robot can accurately follow, and the precision of the teleoperation task is improved. The two phases and their corresponding control modes will be described in detail below.
The free motion phase can be seen as a control problem where the main robot controls the movement from the robot to a position near the target object. The free movement stage adopts a rapid control mode to divide the position of the slave robot into X componentsvSet to 0, i.e. XS＝kxXm+XnCoefficient of position proportionality kxThe setting to an appropriate value allows a high coverage of the workspace of the master and slave robots. k is a radical ofxThe value of (c) is determined by the size of the range of motion of the master and slave robots in XYZ directions, i.e. the master and slave robot workspace scaling factor.
The rapid control mode can control the slave robot to quickly and accurately reach the target position, but in order to cover the working range of the slave robot as large as possible, a large position proportionality coefficient k is usedxThe position scaling factor k may generally be selectedx＝Cs/CmWherein, CsFrom the range of motion of the robot, CmIs the main robot motion range. In general, the fast control mode is not effective for fine-grained operations in the interaction phase.
The interaction stage is a process of gradually approaching the target object from the robot and interacting with the environment, and higher motion control precision and better teleoperation feeling are needed. When the fine control mode is adopted, in order to make the centers of the working spaces of the main robot and the slave robot coincide, a position constant X needs to be movednAt this time, the position of the main robot is recordedIs recorded as X0As the origin of motion of the master robot at this stage. In fine control mode, the position scaling factor kxSet to 1 or less. Allowing for a small mapping scaling factor may result in the primary robot's position XmBecomes smaller after mapping to the slave robot, which may result in a slow response of the teleoperation compared to a slave robot with a larger working range, thus requiring a larger master robot movement to obtain the desired slave robot position XsFor this reason, the velocity V of the main robot is increasedmProportional position XvAnd performing position-speed hybrid control on the slave robot.
When the operator acts on the main robot, the main robot will generate position XmAnd velocity VmFrom position X of the robotsFrom XmAnd VmAnd (4) jointly determining. The control method of the invention can be expressed by a mathematical formula as follows:
Xs＝kxXm+Xn+Xv
wherein, XSFrom the robot position, XmFor the main robot position, XnIs a position constant, X0Is the origin of the interaction pattern, VmAs the main robot velocity, kvIs a velocity proportionality coefficient, voIs the set main robot speed threshold. When the speed drops to a set threshold voWhen below, Xv0 to ensure higher accuracy.
On the basis of effectively performing teleoperation tasks, the feedback guiding force F is further introduced here in consideration that in the practical application process, the process of approaching a target object from a robot and interacting with the environment not only needs to consider the motion precision of teleoperation control, but also the safety of the teleoperation process is an important consideration factormSo that the operator can perform teleoperation operation more safely.
Feedback guide force FmIs distance dependentThe force-velocity-dependent force combination of (a) and (b) is expressed as follows:
Fm＝FL+FV
wherein, FLIs a force inversely proportional to the distance L, L being the distance between the robot end-effector and the target, FLCan be calculated from the following formula:
KLis a constant of distance proportion, L0Is a distance constant and is such as to produce FLThe maximum distance of (c).
FVIs the force related to the velocity of the main robot, calculated by:
FV＝-KdVm
wherein, KdIs a constant rate proportion. When the robot is too fast, FVThe operator is made more difficult to accelerate and secure the safe operation when the slave robot is too close to the target (i.e., the distance from the target is less than the set threshold L)0When F), FLThe action is started, the robot is prevented from being accidentally collided with the target object, the damage to the mechanical arm and the target object is avoided, the introduction of the whole feedback guide force can enable an operator to control the speed better, and the method has important significance in practical application.
Claims (7)
1. The position control method of the master robot and the slave robot teleoperation system is characterized by comprising the following steps:
a. dividing teleoperation into a free motion stage and an interactive motion stage;
b. the free motion phase uses a fast control mode: will be derived from the robot position component XvSet to 0, set the position proportionality coefficient k according to the movement range of the master and slave robotsx；
c. The interactive motion phase adopts a fine control mode: position scale factor kx≤1。
2. The method for controlling the position of a master and slave teleoperated system according to claim 1, wherein in step b, the position scaling factor k isx＝Cs/Cm(ii) a Wherein, CsFrom the range of motion of the robot, CmIs the main robot motion range.
3. The master and slave teleoperational system position control method according to claim 1 or 2, characterized in that the position control method is represented as:
Xs＝kxXm+Xn+Xv
wherein, XSFrom the robot position, XmFor the main robot position, XnIs a position constant, X0Is the origin of the interaction pattern, VmAs the main robot velocity, kvIs a velocity proportionality coefficient, voIs the set main robot speed threshold.
4. The master and slave robotic teleoperational system position control method of claim 3, further comprising the steps of:
d. introducing a feedback guiding force FmSo that the operator can perform teleoperation operation more safely.
5. The method of claim 4, wherein the guiding force F is fed backmIs determined by the following formula:
Fm＝FL+FV；
wherein FLIs a force inversely proportional to the distance L, L being the distance between the robot end-effector and the target, FVIs the force related to the velocity of the main robot.
6. The master and slave teleoperational system position control method of claim 5, wherein FLCalculated from the following formula:
wherein KLIs a constant of distance proportion, L0L is the distance from the robot end effector to the target object, which is a distance constant.
7. The master and slave teleoperational system position control method of claim 5, wherein FVCalculated from the following formula:
FV＝-KdVm
wherein KdIs a constant of speed ratio, VmThe velocity of the master robot.
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Cited By (2)
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| WO2024050729A1 (en) * | 2022-09-07 | 2024-03-14 | Shanghai Flexiv Robotics Technology Co., Ltd. | Robot teleoperation system and method |
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