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Master-slaver heterogeneous teleoperation control system and method of robot arm with telepresence

A teleoperation control and telepresence technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that the force sense technology is not indispensable and the visual presence technology is not widely used, so as to enhance the sense of operation, Good operation and convenient operation

Inactive Publication Date: 2018-02-06
中国东方电气集团有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] That is to say, at present, force telepresence technology has not been widely used in contact operations in the domestic nuclear industry because of its non-essentiality relative to visual telepresence technology.

Method used

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  • Master-slaver heterogeneous teleoperation control system and method of robot arm with telepresence
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  • Master-slaver heterogeneous teleoperation control system and method of robot arm with telepresence

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Embodiment 1

[0035] like figure 1 , a robot master-slave heterogeneous teleoperation control system with a sense of presence, including a global environment monitoring camera 1, an end monitoring camera 2, a central controller with a display screen, and a mechanical arm with a main hand at the front end; the main hand has The force feedback device, the main hand communicates with the central controller through Ethernet data, the global environment monitoring camera and the terminal monitoring camera realize data interaction through Ethernet, and display the collected video data on the screen of the central controller, and the mechanical arm communicates through TCP / The IP protocol is connected with the data of the central controller.

[0036] This is one of the most basic embodiments of the invention. The robot is operated through the video display, and the central controller converts and calculates the position information of the main hand and the mechanical arm detected by the global e...

Embodiment 2

[0038] like figure 1 , a robot master-slave heterogeneous teleoperation control system with a sense of presence, including a global environment monitoring camera 1, an end monitoring camera 2, a central controller with a display screen, and a mechanical arm with a main hand at the front end; the main hand has The force feedback device, the main hand communicates with the central controller through Ethernet data, the global environment monitoring camera and the terminal monitoring camera realize data interaction through Ethernet, and display the collected video data on the screen of the central controller, and the mechanical arm communicates through TCP / The IP protocol is connected to the data of the central controller; the terminal monitoring camera 2 is set at the wrist joint of the mechanical arm, and the global environment monitoring camera 1 and the terminal monitoring camera 2 form a camera with the function of extracting the depth of field information of the target item....

Embodiment 3

[0041] like figure 1 , a master-slave heterogeneous teleoperation control method for a robot with a sense of presence, comprising the following steps:

[0042] Define the three-dimensional base coordinate system of the camera, main hand and robotic arm respectively;

[0043] The central controller obtains the position and orientation of the main hand in the three-dimensional base coordinate system of the main hand or the three-dimensional base coordinate system of the mechanical arm, as well as the force feedback data of the main hand through communication;

[0044] The pose data of the main hand or the manipulator in the three-dimensional base coordinate system of the camera is collected by the global environment monitoring camera 1 and the terminal monitoring camera 2;

[0045] Transform the pose of the main hand in the three-dimensional base coordinate system of the main hand into the three-dimensional base coordinate system of the manipulator through the conversion of the...

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Abstract

The invention discloses a positioning method of a master-slaver heterogeneous teleoperation control system of a robot arm with the telepresence. The master-slaver heterogeneous teleoperation control system comprises a global environment monitoring camera, an end monitoring camera, a central controller with a display screen and the robot arm with a master manipulator at the front end. By defining the tree-dimensional coordinate systems of the cameras, the master manipulator and the robot arm, the pose data in the coordinate systems is converted through a rotation transformation matrix to obtainthe data of the real-time pose which the robot arm in the robot arm coordinate system needs to reach in equal proportion according to the movement pose of the master manipulator, the data serves as acontrol signal to control the robot arm to move in place, and the teleoperation control over a multi-degree-of-freedom anti-radiation robot in nuclear decommission, nuclear waste treatment, nuclear power station maintenance and other nuclear industry fields.

Description

technical field [0001] The invention relates to a robot master-slave heterogeneous teleoperation control system, in particular to a 7-degree-of-freedom teleoperation control system applied to nuclear waste grasping, cutting, shearing and other operations and nuclear power plant maintenance. Background technique [0002] Safety issues in the field of nuclear industry have always been a concern of human beings in the field of nuclear waste disposal and maintenance and decommissioning of nuclear power plants. With the continuous development of robot technology led by artificial intelligence technology, more and more robots are being used in the nuclear industry to replace humans to achieve front-line work related to nuclear processing, and the application of robots in the nuclear industry has gradually expanded from the initial single job In more complex fields, the degree of freedom of robots has also changed from the initial one-dimensional, three-dimensional, to six-dimensio...

Claims

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Application Information

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IPC IPC(8): B25J3/00B25J9/16B25J13/00B25J19/04
CPCB25J3/00B25J9/1607B25J9/161B25J13/00B25J19/04G05B2219/40146
Inventor 刘丝丝肖唐杰魏清平凌乐陈远强周东莫堃董娜于信宾
Owner 中国东方电气集团有限公司
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