CN116277003A - Teleoperation control method for humanoid robot - Google Patents
Teleoperation control method for humanoid robot Download PDFInfo
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- CN116277003A CN116277003A CN202310288874.0A CN202310288874A CN116277003A CN 116277003 A CN116277003 A CN 116277003A CN 202310288874 A CN202310288874 A CN 202310288874A CN 116277003 A CN116277003 A CN 116277003A
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a teleoperation control method of a humanoid robot, which comprises the following steps: according to the control instruction, a first expected pose of the waist of the humanoid robot and a second expected pose of the end effector in a first reference coordinate system are obtained; determining a target second expected pose corresponding to the second expected pose in a second reference coordinate according to the first expected pose and the second expected pose; according to an inverse kinematics algorithm, determining the expected pose of each joint of the mechanical arm in a second reference coordinate system by utilizing the second expected pose of the target; and generating and sending a first control instruction according to the first expected pose, the second expected pose and the expected pose of each joint of the mechanical arm. According to the waist change of the humanoid robot, the pose of each joint of the mechanical arm can be correspondingly adjusted, so that the end effector can be ensured to move to the position indicated by the second expected pose.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a teleoperation control method of a humanoid robot.
Background
Humanoid robots are often designed to replace human work in extreme environments due to their personified shape, freedom and high flexibility.
The humanoid robot generally has a waist, a mechanical arm and a terminal controller, and an operator remotely controls the motions of the humanoid robot at the slave end by using a control assembly at the master end, so that the humanoid robot can replace human work in an extreme environment.
At present, when a control command is sent to the humanoid robot, an independent sending strategy is generally adopted, namely, the position of the waist of the humanoid robot is independently controlled through a waist control command, and the position of an end effector of the humanoid robot is independently controlled through an end controller control command. Since the waist motion of the humanoid robot affects the position of the end effector, the end effector is caused to deviate from the position indicated by the control command when the waist of the humanoid robot and the end effector are controlled to move simultaneously by the control command.
Disclosure of Invention
In order to solve the problems, the invention provides a teleoperation control method of a humanoid robot.
According to a first aspect of the present invention, there is provided a remote control command transmission method for a humanoid robot, applied to a controller for transmitting a control command, the controller being connected to a control module of a master terminal and a humanoid robot of a slave terminal, respectively, the humanoid robot including a waist mounted on a humanoid robot base, a robot arm connected to a humanoid robot body through a robot arm base, and an end effector connected to the robot arm, the method comprising:
according to the control instruction, a first expected pose of the waist of the humanoid robot and a second expected pose of the end effector in a first reference coordinate system are obtained, wherein the control instruction is sent by the control component of the main end, and the first reference coordinate system is constructed based on the humanoid robot base;
determining a target second expected pose corresponding to the second expected pose in a second reference coordinate according to the first expected pose and the second expected pose, wherein the second reference coordinate system is constructed based on the mechanical arm base, and the positions indicated by the second expected pose and the target expected second expected pose are the same;
according to an inverse kinematics algorithm, determining the expected pose of each joint of the mechanical arm in the second reference coordinate system by using the second expected pose of the target;
generating and sending a first control instruction according to the first expected pose, the second expected pose and the expected pose of each joint of the mechanical arm, wherein the first control instruction is used for controlling the end effector to move to a position indicated by the second expected pose.
Optionally, determining a target second desired pose of the end effector in a second reference coordinate according to the first desired pose and the second desired pose comprises:
determining a first pose corresponding to the second reference coordinate system in the first reference coordinate system according to a positive kinematic algorithm and the first expected pose;
and determining a second desired pose of the target of the end effector in the second reference coordinate system according to the first pose and the second desired pose.
Optionally, the determining, according to a positive kinematic algorithm and the first desired pose, a corresponding first pose of the second reference coordinate system in the first reference coordinate system includes:
determining the first pose according to a first formula comprising:
wherein,,
[k]representing the first pose->
Representing the rotational pose of the lumbar rotation axis coordinate system in the first reference coordinate, +.>
Representing the pitch pose of the lumbar pitch axis coordinate system in the first reference coordinate, +.>
Representing the coordinate transformation of the second reference coordinate system with respect to the waist pitch axis coordinate system, θ 1 Represents the rotation angle, θ, in the first desired pose 2 Representing the pitch angle in the first desired pose, +.>
Indicating derivation of the rotation angle of the waist, +.>
The pitch angle of the waist is derived, k-1 represents the start time of the control period, k represents the stop time of the control period, Δt represents the control period, the waist rotation axis coordinate system is constructed based on the waist rotation axis, and the waist pitch axis coordinate system is constructed based on the waist pitch axis.
Optionally, determining, according to the first desired pose and the second desired pose, a target second desired pose corresponding to the second desired pose in a second reference coordinate includes:
determining a second desired pose of the target according to a second formula comprising: :
wherein,,
representing the target second phaseLooking at the pose, the person is in the form of->
Representing a second desired pose of the end effector.
Optionally, the second desired pose is determined according to a third formula comprising:
wherein,,
representing a second desired pose +.>
Representing a third pose of the second reference frame in the first reference frame at the current moment,/->
Representing the pose of the end effector in a second reference frame at the current time.
Optionally, according to the control instruction, acquiring a first expected pose of the waist of the humanoid robot and a second expected pose of the end effector in a first reference coordinate system includes:
respectively acquiring a control first expected pose corresponding to the first expected pose and a control second expected pose corresponding to the second expected pose in a third reference coordinate system;
and determining the first expected pose and the second expected pose according to the mapping relation between the expected pose and the expected pose.
Optionally, the mapping relationship comprises an incremental mapping or an absolute mapping.
According to a second aspect of the present invention, there is provided a humanoid robot remote control device applied to a controller that transmits control instructions, the controller being connected to a control module of a master terminal and a humanoid robot of a slave terminal, respectively, the humanoid robot including a waist mounted on a humanoid robot base, a robot arm connected to a humanoid robot body through a robot arm base, and an end effector connected to the robot arm, the humanoid robot remote control device comprising:
the acquisition module is used for acquiring a first expected pose of the waist of the humanoid robot and a second expected pose of the end effector in a first reference coordinate system according to the control instruction, wherein the control instruction is sent by the control component of the main end, and the first reference coordinate system is constructed based on the humanoid robot base;
the first determining module is used for determining a second target expected pose corresponding to the second expected pose in a second reference coordinate according to the first expected pose and the second expected pose, wherein the second reference coordinate system is constructed based on the mechanical arm base, and the positions indicated by the second expected pose and the second target expected pose are the same;
the second determining module is used for determining the expected pose of each joint of the mechanical arm in the second reference coordinate system by utilizing the second expected pose of the target according to an inverse kinematics algorithm;
and the sending module is used for generating and sending a first control instruction according to the first expected pose and the expected pose of each joint of the mechanical arm, wherein the target control instruction is used for controlling the end effector to move to the position indicated by the second expected pose. According to a third aspect of the present invention, there is provided an electronic device, characterized in that the electronic device comprises a memory for storing computer instructions executable on the processor for performing the computer instructions based on the teleoperation control method of the humanoid robot of the first aspect.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the teleoperation control method of a humanoid robot according to the first aspect.
The technical scheme provided by the invention can comprise the following beneficial effects:
according to the method for sending the control instruction of the humanoid robot, the first expected pose of the waist of the control instruction in the first reference coordinate system and the second expected pose of the end effector are obtained firstly according to the control instruction sent by the control component, further, the target expected pose of the second expected pose in the second reference coordinate system is determined by using the first expected pose and the second expected pose, further, the expected pose of each joint of the mechanical arm is determined by using an inverse kinematics algorithm, and finally, the target control instruction is generated by using the first expected pose and the expected pose of each joint of the mechanical arm so as to control the end effector to move to the position indicated by the second expected pose. According to the invention, the expected pose of each joint of the mechanical arm is determined by utilizing the first expected pose and the second expected pose, so that the pose of each joint of the mechanical arm can be correspondingly adjusted according to the change of the waist of the humanoid robot, the position of the end effector under the first reference coordinate system is ensured not to be changed, and the end effector can be ensured to move to the position indicated by the second expected pose.
Drawings
Fig. 1 is a schematic diagram of a humanoid robot in an embodiment of the invention.
Fig. 2 is a schematic flow chart of a teleoperation control method of a humanoid robot according to an embodiment of the invention.
Fig. 3 is a schematic flow chart of a teleoperation control method of a humanoid robot according to an embodiment of the invention.
Fig. 4 is a block diagram of a humanoid robot remote control device in an embodiment of the invention.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the invention. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.
As shown in fig. 1, the humanoid robot provided in the embodiment of the invention comprises a crawler 1, a humanoid robot base 2, a waist 3, a body 4, a mechanical arm 5 and an end effector 7. Wherein, track 1 is used for driving humanoid robot and removes on ground, and the one end and the humanoid robot pedestal connection 2 of track 1, and humanoid robot pedestal 2 is used for bearing the part of humanoid robot, installs waist 3 and fuselage 4 on the humanoid robot pedestal 2, and arm 5 is used for driving end effector 7 and removes, and arm 4's one end is connected with fuselage 4 through arm pedestal 6, and arm 5's the other end is connected with end effector 7. Specifically, the waist 3 is composed of a waist pitch axis (pitch axis) for changing the pitch angle of the body 4, i.e., the waist pitch axis may move the body 4 forward by a certain angle or the body 4 backward by a certain angle, and a waist rotation axis (yaw axis) for changing the rotation angle of the body 4, i.e., the waist rotation axis may rotate the body 4 leftward by a certain angle or the body 4 rightward by a certain angle.
As shown in fig. 1, the mechanical arm 5 is connected with the body 4 through the mechanical arm base 6, and the body 4 is connected with the waist 3, so that the positional relationship between the mechanical arm 5 and the waist 3 is relatively fixed, that is, the position of the end effector is correspondingly changed by the position change of the waist, so that when the waist and the end effector of the humanoid robot are controlled to move simultaneously through the control command, the end effector is caused to deviate from the position indicated by the control command.
Based on this, an embodiment of the present invention provides a method for sending a control command of a humanoid robot, which is applied to a controller for sending a control command, where the controller is connected to a control component of a master end and a humanoid robot of a slave end, as shown in fig. 2, and the method includes:
step 201, according to the control instruction, acquiring a first expected pose of the waist of the humanoid robot and a second expected pose of the end effector in a first reference coordinate system.
In this embodiment, in the process of controlling the motion of the slave-end humanoid robot by using the control set price of the master end, a control instruction sent by the control component is received first, and a waist sub-control instruction and an end effector sub-control instruction in the control instruction are acquired according to the received control instruction, so that a first expected pose of the waist is determined in a first reference coordinate system according to the waist sub-control instruction, and a second expected pose of the end effector is determined in the first reference coordinate system according to the end effector sub-control instruction. The first reference coordinate system in the embodiment is constructed based on the humanoid robot base, and the expected pose is used for representing the position and the direction of the humanoid robot part indicated by the control instruction.
In one example, the control assembly in this embodiment may include a force feedback hand control for measuring 6-dimensional pose data of an operator's wrist, generating end effector sub-control commands, a rocker for generating waist sub-control commands according to a changing angle of the rocker, and a foot pedal for controlling movement of the humanoid robot on the ground.
In one example, the humanoid robots may include half-horse humanoid robots, tracked humanoid robots, and mobile platform humanoid robots, and the humanoid robot structure may include a base, an end effector, and a robotic arm, wherein the end effector may include a robotic arm.
In one example, this embodiment may use
Represents a first desired pose, wherein θ 1 ，θ 2 The rotation angle of the lumbar rotation axis and the pitch angle of the lumbar pitch axis in the first desired pose, respectively.
In one example, the second desired pose of the present embodiment may be represented by a form of homogeneous matrix:
wherein,,
[n]representing a second desired pose +.>
Rotation angle representing the second desired pose, +.>
Representing the translation distance of the second desired pose. />
Specifically, the->
The first reference frame rotation matrix, relative to which the third reference frame is expressed, is constructed from the force feedback hand control.
Step 202, determining a second target expected pose corresponding to the second expected pose in a second reference coordinate according to the first expected pose and the second expected pose.
In this embodiment, after the first expected pose and the second expected pose are determined in step 201, a target second expected pose corresponding to the second expected pose is determined in a second reference coordinate system according to the first expected pose and the second expected pose, where the second reference coordinate system is constructed based on the mechanical arm base, and the positions indicated by the second expected pose and the target second expected pose are the same, that is, the actual positions of the end effector are the same, and are represented by the first reference coordinate system and the second reference coordinate system, respectively.
And 203, determining the expected pose of each joint of the mechanical arm in the second reference coordinate system by using the second expected pose of the target according to an inverse kinematics algorithm.
In this embodiment, after the step 202 is performed, after the second desired pose of the target is determined, the desired pose of each joint of the mechanical arm in the second reference coordinate system is calculated by using the origin of the second reference coordinate system and the second desired pose of the target by using an inverse kinematics algorithm. Specifically, when calculating the expected pose of each joint of the robot arm, a reverse operation algorithm is utilized to input a second expected pose of a target under a second reference coordinate system and output the expected pose of each joint of the robot arm under the second reference coordinate system.
And 204, generating and sending a first control instruction according to the first expected pose, the second expected pose and the expected pose of each joint of the mechanical arm.
In this embodiment, after obtaining the desired pose of each joint of the mechanical arm, the first desired pose, the second desired pose and the desired pose of each joint of the mechanical arm are integrated to generate a first control instruction, and the first control instruction is sent to the humanoid robot at the slave end to control the end effector to move to the position indicated by the second desired pose.
According to the method for sending the control instruction of the humanoid robot, the first expected pose of the waist of the control instruction in the first reference coordinate system and the second expected pose of the end effector are obtained firstly according to the control instruction sent by the control component, further, the target expected pose of the second expected pose in the second reference coordinate system is determined by using the first expected pose and the second expected pose, further, the expected pose of each joint of the mechanical arm is determined by using an inverse kinematics algorithm, and finally, the target control instruction is generated by using the first expected pose and the expected pose of each joint of the mechanical arm so as to control the end effector to move to the position indicated by the second expected pose. According to the invention, the expected pose of each joint of the mechanical arm is determined by utilizing the first expected pose and the second expected pose, so that the pose of each joint of the mechanical arm can be correspondingly adjusted according to the change of the waist of the humanoid robot, the position of the end effector under the first reference coordinate system is ensured not to be changed, and the end effector can be ensured to move to the position indicated by the second expected pose.
In some embodiments, in performing step 202, the following steps may be included:
step 2021, determining a first pose corresponding to the second reference coordinate system in the first reference coordinate system according to a positive kinematic algorithm and the first desired pose.
In this embodiment, after the first desired pose is determined, the angle of the waist change is used to determine the first pose corresponding to the second reference coordinate system in the first reference coordinate system after the waist moves. Namely, after the waist of the humanoid robot is determined to move, the mechanical arm base is in a first pose in a first reference coordinate system.
In one example, the first pose may be determined according to a first formula comprising:
In one example, a lumbar rotation axis coordinate system is established with reference to a lumbar rotation axis for representing a rotation angle of a lumbar, and a lumbar pitch axis coordinate system is established with reference to a lumbar pitch axis for representing a pitch angle of a lumbar.
Specifically, the starting time in this embodiment is the time when the operator starts to remotely operate the humanoid robot using the control component, and the stopping time is the time when the operator stops to remotely operate the humanoid robot using the control component, where the controller under the starting time can read the pose of the second reference coordinate system, the pose of each joint of the mechanical arm, and the pose of the end effector under the first reference coordinate system.
Step 2022, determining the target second desired pose of the end effector in the second reference frame based on the first pose and the second desired pose.
In this embodiment, after the first pose is determined, a target second desired pose of the end effector is determined in a second reference frame based on the first pose and the second desired pose.
In one example, the target second desired pose may be determined according to a second formula comprising:
wherein,,
representing a second desired pose of the target +.>
Representing a second desired pose of the end effector.
According to the embodiment of the invention, the first pose of the second reference coordinate system in the first reference coordinate system after the waist moves can be accurately determined by utilizing a positive kinematics algorithm, so that the second target expected pose can be determined according to the first pose and the second expected pose, and further the expected pose of each joint of the mechanical arm can be determined by utilizing the second target expected pose, and therefore, the pose of each joint of the mechanical arm can be correspondingly adjusted according to the waist change of the humanoid robot, and the position of the end effector under the first reference coordinate system is ensured not to be changed.
In some embodiments, in determining the second desired pose, the second desired pose may be determined according to a third formula comprising:
wherein,,
representing a second desired pose +.>
Representing the current moment in the second reference frame in the first reference frameThird pose of->
Representing the pose of the end effector in a second reference frame at the current time.
In some embodiments, when performing step 101, the following steps may be included:
and step 2011, respectively acquiring a control first expected pose corresponding to the first expected pose and a control second expected pose corresponding to the second expected pose in a third reference coordinate system.
In this embodiment, when the control command is received, it is preferred to acquire the first desired pose of the waist sub-control command in the third reference frame and acquire the second desired pose of the end effector sub-control command in the third reference frame. Specifically, the third reference coordinate is constructed according to a force feedback coordinate system in the control component, the force feedback hand controller determines to control the second expected pose by reading and measuring 6-dimensional pose data of the wrist of the operator, the rocker determines to control the first expected pose by reading the angle change of the rocker, a waist sub-control command is generated according to the first expected pose, and an end effector sub-control command is generated according to the second expected pose.
Step 2012, determining the first desired pose and the second desired pose according to a mapping relation between the control desired pose and the desired pose.
In this embodiment, after determining to control the first desired pose and to control the second desired pose, the mapping relationship between the third reference coordinate system and the first reference coordinate system is used to determine the first desired pose corresponding to the first desired pose and to control the second desired pose and the second desired pose.
In one example, the mapping relationship between the third reference coordinate system and the first reference coordinate system may be an incremental mapping relationship or an absolute mapping relationship.
In one example, the second desired pose may be controlled by a representation of the homogeneous matrix, as specifically shown below:
wherein,, 0 T[n]indicating that a second desired pose is to be controlled, 0 r represents the rotation angle controlling the second desired pose, 0 v denotes the translation distance controlling the second desired pose.
Further, an embodiment of the present invention provides a method for sending a control instruction of a humanoid robot, and in specific steps, as shown in fig. 3, the method includes steps of first receiving a control instruction sent by a control component, and obtaining a first control pose and a second control desired pose in the control instruction. Specifically, the control instructions comprise a waist sub-control instruction and an end effector sub-control instruction, wherein the rocker determines and controls the second expected pose by measuring the change angle of the rocker, so as to generate the waist sub-control instruction, and the force feedback hand controller determines and controls the second expected pose under a third reference coordinate system according to the 6-dimensional pose data by measuring the 6-dimensional pose data of the wrist of the operator, so as to generate the end effector sub-control instruction.
After a control instruction is received, according to a mapping relation between a third reference coordinate system and a first reference coordinate system, a first expected pose and a second expected pose are determined in the first reference coordinate system, the first pose of the second reference coordinate system in the first coordinate system is determined according to a positive kinematic algorithm and the first expected pose, and further according to the first pose and the second expected pose, a target second expected pose of the end effector in the second reference coordinate system is determined.
After the second expected pose of the target is determined, the expected pose of each joint of the mechanical arm is determined in a second reference coordinate system by utilizing the second expected pose of the target according to an inverse kinematics algorithm, a first control instruction is further generated by utilizing the first expected pose, the second expected pose and the expected pose of each joint of the mechanical arm, and the first control instruction is sent to the slave-end humanoid robot so as to control the end effector to move to a position indicated by the second expected pose.
Another embodiment of the present invention provides a device for sending control instructions of a humanoid robot, referring to fig. 4, the device includes:
the obtaining module 401 is configured to obtain, according to the control instruction, a first expected pose of the waist of the humanoid robot and a second expected pose of the end effector in a first reference coordinate system, where the control instruction is sent by the control component of the main end, and the first reference coordinate system is constructed based on a humanoid robot base;
a first determining module 402, configured to determine a second target desired pose corresponding to the second desired pose in a second reference coordinate according to the first desired pose and the second desired pose, where the second reference coordinate system is constructed based on a robotic arm base, and the second desired pose and a position indicated by the second target desired pose are the same;
a second determining module 403, configured to determine, according to an inverse kinematics algorithm, a desired pose of each joint of the mechanical arm in the second reference coordinate system using the second desired pose of the target;
and the sending module 404 is configured to generate and send a first control instruction according to the first desired pose and the desired pose of each joint of the mechanical arm, where the target control instruction is used to control the end effector to move to the position indicated by the second desired pose.
Another embodiment of the present invention provides an electronic device, including a memory, and a processor, where the memory is configured to store computer instructions executable on the processor, and the processor is configured to execute the computer instructions based on the method for sending the humanoid robot control instruction according to the first aspect.
Another embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the method for sending control instructions of a humanoid robot according to the first aspect.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.
Furthermore, the memory may include volatile memory, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), in a computer readable medium, the memory including at least one memory chip.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, the electronic device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a teleoperation control method of humanoid robot, is applied to the controller that is used for sending control command, the controller is connected with the control module of master end and the humanoid robot of slave end respectively, humanoid robot includes the waist of installing on humanoid robot base, the arm of being connected with humanoid robot fuselage through the arm base and with the end effector that the arm is connected, its characterized in that, humanoid robot teleoperation control method includes:
according to the control instruction, a first expected pose of the waist and a second expected pose of the end effector in a first reference coordinate system are obtained, wherein the control instruction is sent by the control component of the main end, and the first reference coordinate system is constructed based on the humanoid robot base;
determining a target second expected pose corresponding to the second expected pose in a second reference coordinate according to the first expected pose and the second expected pose, wherein the second reference coordinate system is constructed based on the mechanical arm base, and the positions indicated by the second expected pose and the target expected second expected pose are the same;
according to an inverse kinematics algorithm, determining the expected pose of each joint of the mechanical arm in the second reference coordinate system by using the second expected pose of the target;
generating and sending a first control instruction according to the first expected pose, the second expected pose and the expected pose of each joint of the mechanical arm, wherein the first control instruction is used for controlling the end effector to move to a position indicated by the second expected pose.
2. The teleoperation control method of a humanoid robot according to claim 1, wherein the determining a target second desired pose corresponding to the second desired pose in a second reference coordinate according to the first desired pose and the second desired pose comprises:
determining a first pose corresponding to the second reference coordinate system in the first reference coordinate system according to a positive kinematic algorithm and the first expected pose;
and determining a second desired pose of the target of the end effector in the second reference coordinate system according to the first pose and the second desired pose.
3. The teleoperation control method of a humanoid robot according to claim 2, wherein the determining a first pose of the second reference coordinate system corresponding in the first reference coordinate system according to a positive kinematic algorithm and the first desired pose comprises:
determining the first pose according to a first formula comprising:
wherein,,
representing the first pose->
Representing the rotational pose of the lumbar rotation axis coordinate system in the first reference coordinate, +.>
Representing the pitch pose of the lumbar pitch axis coordinate system in the first reference coordinate, +.>
Representing the coordinate transformation of the second reference coordinate system with respect to the waist pitch axis coordinate system, θ 1 Represents the rotation angle, θ, in the first desired pose 2 Representing the pitch angle in the first desired pose, +.>
Indicating derivation of the rotation angle of the waist, +.>
The pitch angle of the waist is derived, k-1 represents the start time of the control period, k represents the stop time of the control period, Δt represents the control period, the waist rotation axis coordinate system is constructed based on the waist rotation axis, and the waist pitch axis coordinate system is constructed based on the waist pitch axis.
4. The teleoperation control method of a humanoid robot according to claim 2, wherein the determining a target second desired pose corresponding to the second desired pose in a second reference coordinate according to the first desired pose and the second desired pose comprises:
determining a second desired pose of the target according to a second formula comprising:
wherein,,
representing a second desired pose of the target +.>
Representing a second desired pose of the end effector.
5. The teleoperation control method of a humanoid robot of claim 1 or 4, wherein the second desired pose is determined according to a third formula comprising:
wherein,,
representing a second desired pose +.>
Representing a third pose of the second reference frame in the first reference frame at the current moment,/->
Representing the pose of the end effector in a second reference frame at the current time.
6. The teleoperation control method of the humanoid robot according to claim 1, wherein the acquiring a first desired pose of the humanoid robot waist and a second desired pose of an end effector in a first reference coordinate system according to the control instruction includes:
respectively acquiring a control first expected pose corresponding to the first expected pose and a control second expected pose corresponding to the second expected pose in a third reference coordinate system;
and determining the first expected pose and the second expected pose according to the mapping relation between the expected pose and the expected pose.
7. The teleoperation control method of a humanoid robot of claim 6, wherein the mapping relation includes incremental mapping or absolute mapping.
8. The utility model provides a humanoid robot teleoperation controlling means, is applied to the controller that sends the control command, the controller is connected with the control module of master end and the humanoid robot of slave end respectively, humanoid robot includes the waist of installing on humanoid robot base, through the arm base with the arm of humanoid robot fuselage connection and with the end effector that the arm is connected, its characterized in that, humanoid robot remote control device includes:
the acquisition module is used for acquiring a first expected pose of the waist and a second expected pose of the end effector in a first reference coordinate system according to the control instruction, wherein the control instruction is sent by the control component of the main end, and the first reference coordinate system is constructed based on the humanoid robot base;
the first determining module is used for determining a second target expected pose corresponding to the second expected pose in a second reference coordinate according to the first expected pose and the second expected pose, wherein the second reference coordinate system is constructed based on the mechanical arm base, and the positions indicated by the second expected pose and the second target expected pose are the same;
the second determining module is used for determining the expected pose of each joint of the mechanical arm in the second reference coordinate system by utilizing the second expected pose of the target according to an inverse kinematics algorithm;
and the sending module is used for generating and sending a first control instruction according to the first expected pose and the expected pose of each joint of the mechanical arm, wherein the target control instruction is used for controlling the end effector to move to the position indicated by the second expected pose.
9. An electronic device comprising a memory, a processor for storing computer instructions executable on the processor, the processor for performing the computer instructions based on the humanoid robot teleoperation control method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the teleoperation control method of a humanoid robot according to any one of claims 1 to 7.
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| CN202310288874.0A CN116277003A (en) | 2023-03-22 | 2023-03-22 | Teleoperation control method for humanoid robot |
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