Master-slaver teleoperation industrial robot system and control method thereof

Abstract

The invention discloses a master-slave teleoperation industrial robot system and a control method thereof. The system comprises a master robot, a master-slave control system connected with the master robot, and a slave robot connected with the control system, wherein the master robot comprises force feedback equipment; an operator transmits a master robot motion command to the slave robot through the master-slave control system, the slave robot moves with the master robot, further accomplishes the operation to a task object, and simultaneously feeds back task state to the operator. The system designs a main-slave motion mapping strategy by analyzing geometrical structures of a master manipulator and a slave manipulator, adopts a master-slave control algorithm based on an inverse jacobian matrix, eliminates a master-slave position following error through a proportional-derivative control link, and designs a low-pass digital filter to filter the vibration of hands, so as to eliminate the influence on the precision of a surgical robot by the vibration of the hands of the operator.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a master-slave remote-operated industrial robot system and a control method thereof. Background technique [0002] The invention relates to a master-slave teleoperation motion control and a teleoperation teaching reproduction method of an industrial robot, which is mainly used in the fields of manufacturing and processing, automation control and the production of supporting products, and can efficiently and accurately generate operation sequences and optimize operation paths, so that The robot movement process can be reproduced smoothly. [0003] The rapid change and increasing complexity of modern industry, the widespread use of industrial robots, not only can improve the quality and quantity of products, but also has a very important meaning to protect personal safety, reduce labor intensity, improve labor productivity, and reduce production costs. The robot can be i...

AI Technical Summary

Problems solved by technology

Chinese patent application 201120293768.4 Aiming at the problems that the wires of the wired teaching boxes used at home and abroad are easy to break and the control distance is limited, a wireless remote control teaching pendant applied to the robot system is proposed to be solved by the wireless remote control teaching pendant these questions

[0006] The teaching method in the prior art requires the operator to move each joint of the robot by pressing the corresponding command button on the teaching box until the movement combination of all joints produces the required target teaching posture. The operation is complicated, the function is single, and the operation The shortcomings of poor flexibility, many times of teaching, and large impact during stepping are also very inconvenient for the operator. It is necessary to remember the buttons to control the forward and reverse of each joint, which causes a heavy physical and psychological burden on the operator.

The pose teaching based on Cartesian space requires the operator to know the base coordinate system of the robot in advance, and press the command buttons in each direction one by one until each movement combination produces the desired target pose, which is very inconvenient to operate

At present, there is no intuitive control method that allows the operator to easily control the robot to the desired teaching pose in Cartesian space

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