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Method for controlling force telepresence of teleoperation robot based on tactile sensor

A tactile sensor and control method technology, applied in the control field, can solve the problems of limited accuracy of force sensor, inaccurate feedback force, inertial force and gravity interference, etc., to achieve the effect of improving control accuracy, broadening application scope and improving perception ability.

Inactive Publication Date: 2012-02-01
JIANGSU SHUANGSHUANG TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Based on the limited accuracy of the force sensor, the feedback force felt by the operator on the main side is often inaccurate, which will affect the stability of the control
In addition, there are inertial force and gravity interference when the slave robot is moving, so that the operator can feel the feedback force before the slave robot comes into contact with the environment, which greatly affects the effect of presence

Method used

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  • Method for controlling force telepresence of teleoperation robot based on tactile sensor
  • Method for controlling force telepresence of teleoperation robot based on tactile sensor
  • Method for controlling force telepresence of teleoperation robot based on tactile sensor

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Embodiment Construction

[0017] The teleoperated robot force sense telepresence control method includes: a main side loop 1 and a slave side loop 2, the main side loop 1 is composed of a main side loop switch 13, a main side controller 14, a master robot 12 and a comparator, and the slave side loop Loop 2 is composed of a slave controller 21, a slave robot 22 and a comparator. The specific operation steps are as follows:

[0018] The position difference signal x u Sent to the slave side controller 21, the slave side controller 21 adopts a proportional-integral controller and the output control quantity u formed by the slave side controller 21 s for where B s is the integral coefficient of the slave side controller, K s Be the proportional coefficient of the slave side controller, t is the amount of time, from the side controller 21 the described output control amount u s Output to slave robot 22 and be used for controlling from robot 22 motions, set tactile sensor 24 on slave robot 22 and describ...

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Abstract

The invention relates to a method for controlling the force telepresence of a teleoperation robot based on a tactile sensor. A main side loop and an auxiliary side loop are provided in the method, the main side loop comprises a main side loop switch, a main side controller, a main robot and a comparer, and the auxiliary side loop comprises an auxiliary side controller, an auxiliary side robot anda comparer. The method comprises the following steps of: transmitting position difference signals xu to the auxiliary side controller; outputting output controlled quantity us formed in the auxiliaryside controller to the auxiliary side robot for controlling the motion of the auxiliary side robot; setting the tactile sensor on the auxiliary side robot for sensing the acting force fe of an environment to the auxiliary side robots, when fe is greater than a threshold value fT, switching on the main side loop switch in the main side loop to input xu to the main side controller, wherein the output controlled quantity is um; finally outputting um to the main side robot and generating feedback force acting on an operator by using the main side robot, thereby the operator generates force telepresence and meanwhile, the auxiliary side robot moves along with the main side robot; and when the feedback force signal fe is less than fT, not providing feedback force for the operator by the main side robot.

Description

technical field [0001] The invention relates to control technology, in particular to a control method of force sense presence in a force tactile sensor-based teleoperated robot system. Background technique [0002] The purpose of the teleoperation robot system is to connect humans and robots, and the robot reproduces the actions of the operator at the remote end. Generally, teleoperated robots are used in environments that are inaccessible, difficult to enter, or harmful to humans, such as space, deep sea, and nuclear radiation areas. Telepresence technology is an advanced way of human-robot interaction. Its basic concept is: on the one hand, the operator's movement and position information is detected in real time through the multi-sensor system around the operator and sent to the remote robot controller as control instructions. On the other hand, through the multi-sensor system installed on the remote robot, the robot and the environment and the interaction information be...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/418
CPCY02P90/02
Inventor 宋爱国李新吴涓崔建伟
Owner JIANGSU SHUANGSHUANG TECH CO LTD
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