Control method, device, computing device and storage medium based on operator's intention

Abstract

The invention discloses a control method, device, computing device and storage medium based on the operator's intention. The control method based on the operator's intention includes the steps of: constructing an ideal movement direction matrix and a forbidden movement direction matrix based on a virtual fixture guide path; The actual operating force acting on the end of the robot to obtain the error compensation force; obtain the error compensation correction force according to the actual path of the robot end and the virtual fixture guide path; obtain the operator's intention parameter value; based on the ideal motion direction matrix, the prohibited motion The direction matrix, the error compensating force, the error compensating correction force and the operator's intention parameter value obtain the current operating force of the robot end. The invention can constrain the end of the robot to move in an expected direction that is more in line with the actual working conditions, ensures the humanization, intelligence and intelligence of the virtual fixture, improves the integration of man and machine, and ensures the accuracy of the execution process of the end of the robot.

Description

technical field [0001] The invention belongs to the technical field of virtual fixture control, and more specifically relates to a control method, device, computing device and storage medium based on operator intention. Background technique [0002] Virtual fixture technology is a generative motion constraint algorithm implemented by software programming method, which is widely used in industrial, medical and other fields. The virtual fixture technology can realize the constraint of the mechanical rigid fixture on the prohibited movement direction in the virtual space. Based on the high precision and stability characteristics of the robot itself, it can assist the robot to accurately move along the desired direction. At the same time, due to the manual control of the operator, A certain degree of flexibility is reserved for the robot. However, in the process of using the virtual fixture construction method, it may occur that the virtual fixture constructed based on prior kn...

AI Technical Summary

Problems solved by technology

However, in the process of using the virtual fixture construction method, it may occur that the virtual fixture constructed based on prior knowledge cannot completely match the ideal curve or surface, or the original planned path needs to be changed due to safety issues, or disturbances occur during robot operation. , obstacles and other emergencies, such as when the end of the medical robot is guided, in the face of changes in the surgical environment and the surgical condition of the surgeon, it is difficult for the virtual fixture to be adaptively adjusted according to the surgeon's intention; or when the end of the grinding robot is guided , it is difficult to make adaptive adjustment according to the operator's intention according to the complex processing surface

In the face of such a situation where the virtual fixture structure cannot be changed following the environment and the operator's intention, how to dynamically adjust the virtual fixture control based on the operator's intention has become an urgent problem to be solved

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