A virtual fixture optimization generation method in the process of operation interaction

Abstract

The invention relates to a virtual fixture optimization generation method in an operation interaction process. The method utilizes an optimization method to optimize and generate a virtual fixture, firstly selects a path point, performs state variable construction, obtains a state equation which the virtual fixture satisfies, provides required functional functions and constraint conditions, solvesrequired path trajectories and virtual fixture parameters, and generates the virtual fixture based on the generated trajectories and the virtual fixture parameters. The method can obtain different virtual fixture configuration parameters according to the environment in which the virtual fixture is located and its own characteristics, and adapt to more complex task requirements.

Description

technical field [0001] The invention belongs to the field of operation interaction control, and relates to a virtual fixture optimization generation method in the operation interaction process, which can be used to assist the operator to perform refined operations in the remote operation process and complete operation tasks requiring high precision. Background technique [0002] Teleoperation technology and teleoperation system have been greatly developed in the past few decades. The teleoperation system can help operators complete many challenging tasks, such as disaster rescue, unmanned mining, hazardous material handling, remote assistance, telemedicine, etc. [0003] In the process of teleoperation, the terminal mechanism executes the instructions issued by the operator from the interactive system, performs corresponding operations, and feeds back the operation results and the working status of the terminal, which is convenient for predicting the terminal status. In the...

AI Technical Summary

Problems solved by technology

In the process of teleoperation, the fine-grained instructions are basically generated by the operator himself in a corresponding interactive way, which is largely limited by the operator himself.

In the existing operation methods, the hand controller is mostly used as the main interaction method, and for the control of the terminal position, it is more necessary to rely on the operator's own observation to perform corresponding operations on the terminal. In consideration of human body function, it is not enough to rely solely on the operator's own control of the terminal in the operation tasks that require high precision.

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