Three-dimensional virtual force field vision enhancement method applied to mechanical arm control

Abstract

The invention belongs to the technical field related to robot teleoperation, and particularly relates to a three-dimensional virtual force field vision enhancement method applied to mechanical arm control. The method comprises the following steps that S1, potential field resultant force borne by the tail end of the mechanical arm is calculated in the motion space of the mechanical arm; s2, a three-dimensional virtual sphere is constructed in the virtual space, grid division is conducted on the surface of the three-dimensional virtual sphere, the sphere center is equivalent to the mass center of the tail end of the mechanical arm, the resultant force borne by the mass center acts on grid nodes in the corresponding direction, force given to other nodes on the surface of the sphere is obtained according to a preset rule, and displacement is generated; and S3, the three-dimensional virtual sphere is mapped to the tail end of the mechanical arm through the augmented reality technology, when the potential field resultant force borne by the tail end of the mechanical arm changes, the shape of the three-dimensional virtual sphere changes, and visual enhancement of the force field of the tail end of the mechanical arm is achieved. According to the invention, the problems of unexpected collision, operation errors and the like under the guidance of single visual information are solved.

Description

technical field [0001] The invention belongs to the technical field related to remote operation of robots, and more specifically relates to a three-dimensional virtual force field vision enhancement method applied to manipulator manipulation. Background technique [0002] Facing extreme and harsh environments, such as deep space and deep sea exploration, the operator cannot reach the job site, and the robot acts as an assistant to complete the job task instead of the operator through remote operation technology. Humans primarily rely on vision to perceive operational states. For the field of teleoperation, when controlling space robots to perform on-orbit services related to space payloads, such as space assembly, space science experiments, component replacement, equipment maintenance and other complex on-orbit teleoperation tasks, the complex dynamics of application scenarios and workspaces, It is inevitable that there will be static obstacles in the task path around the t...

AI Technical Summary

Problems solved by technology

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a three-dimensional virtual force field vision enhancement method applied to manipulator control, which solves the problems of unintended collisions and operation errors under the guidance of single visual information

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