Kinesthesis teaching control method based on vision sense for remote control of robot

Abstract

The invention provides a kinesthesis teaching control method based on vision sense for remote control of a robot. The steps comprises the steps of using stereoscopic vision technology to identify an onsite operation object and a background environment (an obstacle) and extract space information; constructing virtual attraction of the operation object to the robot by using the pose relation of the operation object and the tail end of the robot calculated through vision identification as a parameter; constructing the obstacle repulsive force exerted by the robot by using the distance of the tail end of the robot and the background environment (the obstacle) along the speed direction of the robot as a parameter; combining the virtual attraction of the operation object, the obstacle visual repulsive force and the real acting force of the robot when the robot clamps objects into the teaching force of the robot; and through the jacobian matrix between a main end system and a sub end system, feeding back the teaching force to an operation handle, and therefore kinesthesis teaching to an operator is achieved. The kinesthesis teaching control method can effectively improve the intellectuality, the safety and easy handling of a main robot system and a sub robot system.

Description

technical field [0001] The invention belongs to the field of human-computer interaction of robots, and in particular relates to a vision-based kinesthetic teaching control method for a telemanipulation robot. Background technique [0002] With the rational development and utilization of the seabed, underground resources and space, robots have played an increasingly important role in the completion of tasks in extreme environments such as high temperature, high pressure, and strong radiation. Robots are developing in the direction of intelligence. However, due to the constraints of the development level of control, sensing and artificial intelligence, it is difficult to achieve a goal in the short term to develop a fully autonomous robot in a changing environment. Robot telecontrol technology involves human intelligence in the real-time control of robots, which greatly improves the adaptability of robots in complex environments. Therefore, it is the current development tren...

AI Technical Summary

Problems solved by technology

In some applications such as high speed and heavy load, the instantaneous impact of the robot on the working environment may cause irreparable losses before the operator perceives the reaction force of the on-site operation.

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