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Remote operation system position and speed synchronization control method for heterogeneous robots

An operating system and synchronous control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of increasing the control complexity of heterogeneous remote operating systems, manual and lack of flexibility from robots, etc.

Active Publication Date: 2018-11-16
XIHUA UNIV
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AI Technical Summary

Problems solved by technology

[0004] The shortcomings of these methods mainly lie in the need to manually switch the switch, which increases the complexity of the control of the heterogeneous remote control system and lacks flexibility for the operation of the slave robot.

Method used

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  • Remote operation system position and speed synchronization control method for heterogeneous robots
  • Remote operation system position and speed synchronization control method for heterogeneous robots
  • Remote operation system position and speed synchronization control method for heterogeneous robots

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Embodiment

[0036] The heterogeneous robot remote operating system position and speed synchronization control method of the present invention, the operating principle is as follows figure 1 As shown, including operator, master robot, computer, communication network, slave robot and target. The force f that the operator acts on the main robot h , so that the main robot generates position information x master and position change amount, position information x master and the position change of the master robot is transmitted to the slave robot through the communication network; thereby controlling the position x of the slave robot in the three-dimensional task space slave , so that the position change of the master robot in the process controls the speed V of the slave robot in the three-dimensional task space s , so that the position and velocity of the slave robot are synchronized with those of the master robot. Make the slave robot act on the target more accurately, and make the slave...

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Abstract

The invention belongs to the technical field of robot teleoperation control, and discloses a remote operation system position and speed synchronization control method for heterogeneous robots. The method mainly includes steps of applying a force fh to cause a master robot to generate position information xmaster and position change amount; transmitting the position information xmaster and the position change amount of the master robot to an slave robot through a communication network; causing the slave robot to move and generate position information xslave; controlling the position informationxslave of the slave robot through the position information xmaster of the master robot, to achieve position synchronization of the master robot and the slave robot; and controlling a speed Vs of theslave robot by the position change amount of the master robot, to achieve speed synchronization of the master robot and the slave robot. The position movement of the slave robot in a three-dimensionaltask space is controlled by the position information of the master robot, and the speed change of the lave robot in the three-dimensional task space is controlled by the position change amount of themaster robot in the process, so that the position and speed of the slave robot are kept synchronized with the position and speed of the master robot.

Description

technical field [0001] The invention belongs to the technical field of robot teleoperation control. In particular, it relates to a position and speed synchronous control method of a remote control system of a heterogeneous robot. Background technique [0002] The heterogeneous robot teleoperation system combines human experience and wisdom with the advantages of robots, and realizes the extension of human behavior and perception capabilities, allowing robots to replace humans in complex or harsh environments, thereby avoiding damage to the human body. damage, reduce production costs, and improve production efficiency. It has been widely used in fields such as space, deep sea, medical surgery, mining industry and nuclear industry. Therefore, it is the most important function in the robot teleoperation system to realize the synchronous tracking of the position of the master robot and the slave robot and the precise control of the speed of the slave robot. [0003] Because o...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/10
CPCB25J9/10B25J9/16B25J9/1679B25J9/1689
Inventor 刘霞潘成伟董秀成
Owner XIHUA UNIV
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