Robot teleoperation track planning method based on control behavior detection

Abstract

The invention relates to a robot teleoperation track planning method based on control behavior detection, and belongs to the technical field of robot and human interaction. The method comprises the steps: firstly, establishing a human-computer interaction model of a teleoperation robot, detecting and estimating human operation behaviors by a sliding mode control and neural network technology based on theoretical analysis and parameter confirmation, applying the obtained operation behaviors to expected track tracking and updating, and controlling the teleoperation robot to move according to a formed new reference track, and thus in the process of man-machine interaction of the teleoperation robot, enabling an operator to perceive expected impedance characteristics through interaction behaviors. According to the method, human operation behaviors of a master end are detected, evaluated and reconstructed, influences of uncertainty and disturbance on the human operation behaviors are drawn by behaviors of operators and are actively compatible, the influences are regarded as active contribution, the expected track of a slave end is designed and updated, the effect of improving the consistency of the master behaviors and the slave behaviors is achieved, and the track tracking effect is improved.

Description

technical field [0001] The invention belongs to the technical field of robot-human interaction, and more specifically relates to a robot hybrid control method based on a fuzzy controller to distribute control weights and integrate visual servoing and human-computer interaction control. Background technique [0002] Robot teleoperation is a technology that can extend the intention and behavior of the local operator to interact with the robot to the remote operation site. The robot teleoperation technology solution can effectively integrate human intelligent behavior and robot precise execution ability, which is of great significance for improving the success rate of remote robot execution tasks. Another advantage of the human-in-the-loop robot teleoperation system is that it can use rich human experience to determine the strategy for the interaction between the remote robot and the environment. By weakening the "intelligence" of the remote robot's behavior, it can maintain it...

AI Technical Summary

Problems solved by technology

This scheme of replacing the remote sensor system with local human perception also has certain shortcomings. A key defect is that the detection and evaluation of human operation behavior is transformed from a simple sensor measurement problem to a complex state estimation problem. the complexity of the system design

Furthermore, since the uncertainty of the closed-loop system is often confused with human operation behavior, the guidance trajectory formed by the operation behavior will imply the influence of the uncertainty of the closed-loop system

Due to the existence of this adverse effect, the accuracy of the planned trajectory obtained by conventional sensor detection is low

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