Robot teleoperation method and device based on six-dimensional force signals

Abstract

The invention discloses a robot teleoperation method and device based on a six-dimensional force signal, and the method comprises the steps: collecting a teleoperation six-dimensional force signal through a remote controller which at least comprises a torque sensor; filtering the six-dimensional force signal by using a filtering algorithm; the filtered six-dimensional force signals are subjected to amplitude limiting processing, the tail end speed of the robot in the Cartesian space is obtained, and the joint angular speed of the robot is obtained through calculation; according to an instruction issuing period of a controller real-time system, joint angular velocity integral calculation is combined with a joint position of a current robot to obtain a joint expected position, the joint expected position is issued to each joint driver, and each joint driver realizes remote operation on the robot in a position control mode. The six-dimensional force signals directly correspond to the pose of the tail end of the robot in the Cartesian space, movement of the robot is operated, the anti-interference and amplitude limiting effects on the force signals are achieved, the speed of teleoperation can be adjusted, and the teleoperation is more stable, simpler and more visual.

Description

technical field [0001] The invention relates to the technical field of remote operation of robots, in particular to a method and device for remote operation of robots based on six-dimensional force signals. Background technique [0002] At present, remote control is mainly divided into three categories: indirect guidance, direct operation and mixed control. Indirect guidance mainly uses image recognition or voice recognition. The robot performs the specified operation by recognizing the operator's gesture or voice. Direct operation mainly uses a certain hardware platform to help the operator control the robot to complete a certain action. The operator remotely operates the robot to complete specified actions or tasks by controlling the handle, joystick or somatosensory remote control. Mixed manipulation is mainly the combination of the former two. The robot completes specific actions by recognizing actions or sounds and receiving operating instructions from the hardware ...

AI Technical Summary

Problems solved by technology

Its shortcoming is mainly that it cannot limit the force signal, the greater the force signal, the greater the speed

This is very dangerous in robot teleoperation, because the movement of the robot must be safe and reliable, and the higher the speed, the less safe it is

Moreover, the force signal obtained from the torque sensor will have a lot of noise, which will affect the stability of the entire system.

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