Remote operating system and method

Abstract

The invention relates to a remote operating system, comprising a master terminal and a slave terminal, wherein the master terminal creates a master terminal operating space to acquire an operation instruction; and the slave terminal creates a slave terminal operating space and collides with an operational object in the slave terminal operating space according to the operational instruction and then feeds back. The master terminal comprises a master interface module which is used for creating the master terminal operating space and mapping the slave terminal operating space and the master terminal operating space into a virtual space, a force feedback device which is used for acquiring the operational instruction and moving in the master terminal operating space according to the operational instruction to obtain a motion state, a master controller which is used for calculating according to the motion state and carrying out gravity compensation to obtain a control force; and the slave terminal comprises a slave interface module used for creating the slave terminal operating space according to the position of a mechanical arm, a slave controller used for controlling the mechanical arm according to the control force and the mechanical arm used for colliding the operation object in the slave terminal operating space. The remote operating system carries out the gravity compensation, thus the mechanical arm operates easily under the condition of heavy load, and the aim of easy operation is realized.

Description

【Technical field】 [0001] The invention relates to remote operation technology, in particular to a remote operating system and method. 【Background technique】 [0002] The teleoperation system refers to the system in which the operator controls the remote robot to affect the working environment through the main console. In the teleoperation system, the operator does not have direct contact with the working environment, and only controls the movement of the mechanical arm of the remote robot through the operating handle in the main console. [0003] The traditional teleoperation system is divided into position servo type, force feedback type, force feedback servo type and force-position comprehensive type. The position servo type remote control system transmits the force sense through the position deviation between the operating handle and the mechanical arm, but if the inertial force and frictional force are not compensated, then for the mechanical arm with large self-weight ...

AI Technical Summary

Problems solved by technology

The position servo type remote control system transmits the force sense through the position deviation between the operating handle and the mechanical arm, but if the inertial force and frictional force are not compensated, then for the mechanical arm with large self-weight and frictional force, deviation will occur Defects of imprecise signal, not suitable for heavy load, high power operation

The force feedback type remote control system directly feeds back the force or torque on the operating handle to the main hand, but it is still very difficult to operate the operating handle even when the mechanical arm has a large weight and no load on the mechanical arm.

The force feedback servo type remote control system also has difficulties in operation

However, the force-position integrated teleoperation system also has the defect of difficult operation when the manipulator has a relatively large weight.

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