Position control method of teleoperation system for master robot and slave robot

Abstract

The invention relates to the technical field of teleoperation control of robots, in particular to a position control method of a teleoperation system for a master robot and a slave robot. The positioncontrol method of the teleoperation system for the master robot and the slave robot includes the following steps that a, teleoperation is divided into the free movement stage and the interactive movement stage; b, the quick control mode is used in the free movement stage, specifically, the position component Xv of the slave robot is set as 0, and the position proportional coefficient kx is set according to the movement range of the master robot and the slave robot; and c, the fine control mode is used in the interactive movement stage, specifically, the position proportional coefficient kx issmaller than or equal to 1. The method has the beneficial effects as follows: the teleoperation movement position control precision is improved while high-degree covering of the working space of themaster robot and the working space of the slave robot is guaranteed; further, the control safety can be guaranteed effectively through introduction of the feedback guiding force; and the control system is low in cost, and the control flow is simple and effective.

Description

technical field [0001] The invention relates to the technical field of robot teleoperation control, in particular to a position control method for a master robot and a slave robot teleoperation system. Background technique [0002] The main robot and the slave robot teleoperation system enable the operator to operate the slave robot to interact with the environment through the master robot, and are widely used in remote environments such as space and underwater, environments with limited operating space such as human minimally invasive surgery, as well as nuclear power plants and factories, etc. dangerous environment. Because both the master robot and the slave robot have diversity, the scope of application of the teleoperation system is expanded, and the practicability of the teleoperation system is also improved. However, using a master robot with a limited workspace to precisely and safely teleoperate a slave robot with a large workspace is a challenge since the workspac...

AI Technical Summary

Problems solved by technology

However, the existing problem is that when the scale factor is too small, the available working space of the slave robot will also be reduced, that is, the reachable range of the end effector of the slave robot will also be reduced; when the scale coefficient is too large, the slave robot’s The actual motion trajectory will also be enlarged proportionally, so the accuracy of motion control will be reduced

[0005] 2. Literature [S.Grange, F.Conti, P.Helmer, P.Rouiller, C.Baur, "The Delta Haptic Device as a Nanomanipulator", SPIE Microrobotics and Microassembly III, November 2001.] Select a movement on the main robot side The origin makes the speed of the slave robot proportional to the difference between the real-time position of the master robot and the displacement of the origin of motion. Using this control method can also achieve a large coverage of the workspace of the master robot and the slave robot. However, the problem is that the master robot It no longer corresponds to the working space of the slave robot, and cannot perform precise positioning, nor can it perform rapid direction changes

Although this method matches the working spaces of the master robot and the slave robot, it cannot overcome the problem of position control accuracy caused by space matching.

Because when the space is matched, the position of the slave robot will be enlarged proportionally, and the control accuracy will be reduced.

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