A Robot Teleoperation Trajectory Planning Method Based on Manipulation Behavior Detection

Abstract

The invention relates to a robot teleoperation trajectory planning method based on manipulation behavior detection, and belongs to the technical field of robot-human interaction. Firstly, the human-computer interaction model of the teleoperated robot is established. Based on theoretical analysis and parameter confirmation, the human operation behavior is detected and estimated by the sliding mode control and neural network technology, and the obtained operation behavior is applied to the desired trajectory tracking update, control The teleoperated robot moves according to the formed new reference trajectory, so that the operator can perceive the desired impedance characteristics through the interaction behavior during the human-machine interaction of the teleoperated robot. The present invention detects, evaluates and reconstructs the human operation behavior of the master end, draws the operator's behavior, actively accommodates the influence of uncertainty and disturbance on the human operation behavior, regards it as an active contribution, designs and updates the expectations of the slave end track, to achieve the effect of improving the consistency of master-slave behavior and improving the effect of track tracking.

Description

technical field [0001] The invention belongs to the technical field of interaction between robots and humans, and more particularly relates to a robot hybrid control method based on fuzzy controller distribution of control weights and fusion of visual servoing and human-computer interaction control. Background technique [0002] Robot teleoperation is a technology that can extend the intention and behavior of local operators to interact with robots to remote operation sites. The robot teleoperation technology solution can effectively integrate human intelligent behavior and the robot's 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 the rich human experience to determine the strategy for the interaction between the remote robot and the environment. , greatly reducing the perceived cost of improving or securing "in...

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

Images