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Control method of teleoperation system with virtual constraint

A technology of operating system and control method, applied in the direction of program control manipulator, manufacturing tool, manipulator, etc., can solve the problem of large tracking error, and achieve the effect of alleviating the operation burden, saving equipment cost, and simplifying the system structure

Active Publication Date: 2019-02-15
XIHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The main purpose of the present invention is to provide a remote control system control method with virtual binding force, which generates virtual force with point-to-point position difference and solves the problem of large tracking error in the prior art

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  • Control method of teleoperation system with virtual constraint
  • Control method of teleoperation system with virtual constraint
  • Control method of teleoperation system with virtual constraint

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Embodiment Construction

[0036] It should be noted that, in the case of no conflict, the specific implementation methods, examples and features in the present application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and in conjunction with the following contents.

[0037] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the specific embodiments of the present invention and the examples will be clearly and completely described below in conjunction with the accompanying drawings in the specific embodiments of the present invention and the examples. , the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the specific implementation modes and examples in the present invention, all other implementation modes and examples obtained by persons of ordinary skill in the art without mak...

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Abstract

The invention belongs to the technical field of robot teleoperation systems. The invention discloses a control method of a teleoperation system with virtual constraint. Virtual force is generated according to point-to-point position difference, and the problem of large tracking error in the prior art is solved. The control method of the teleoperation system with the virtual constraint comprises the following steps of mapping the position difference between an actual position B and a task position A of an end effector of a slave robot to the end of a main robot when the slave robot is operatedto move within a certain range of a target object by the main robot; generating a virtual force signal by a virtual spring, feeding the force signal back to the main robot, forming the virtual constraint by the main robot, and restraining an operator to operate according to the virtual constraint. According to the control method, the system structure is simplified, the equipment cost is reduced, the operating burden of the operator can be reduced, the accuracy of the system is increased, the task execution capability of the robot is increased, and the practicability of the teleoperation systemis increased.

Description

technical field [0001] The invention belongs to the technical field of remote operating systems for robots, and relates to robot control technology, in particular to a control method for remote operating systems with virtual constraints. Background technique [0002] The robot teleoperation system combines human experience and wisdom with the advantages of robots, and realizes the extension of human behavior ability, so it is widely used in engineering practice in dangerous or complex environments. The teleoperation system control method with virtual constraints simplifies the system structure, saves equipment costs, eases the operator's operating burden, increases the accuracy of the teleoperation system, and provides a good engineering application for the teleoperation system Technical Support. [0003] The literature "Abbott J, Okamura A.Stable forbidden-region virtual fixtures for bilateral telemanipulation.Journal of Dynamics Systems Measurement&Control, 2006,128(1):53...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J9/16
CPCB25J3/00B25J9/1689
Inventor 潘成伟刘霞张超
Owner XIHUA UNIV
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