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Teleoperation robot prediction display method based on time delay prediction

A technology of remote operation robot and display method, which is applied in the direction of instruments, simulators, computer control, etc., can solve the problems of reducing operation efficiency and quality, threatening operation safety, and being unable to obtain feedback information from remote operation sites in real time. The effect of non-correspondence between virtual and real signals, improving accuracy, improving transparency and stability

Inactive Publication Date: 2022-06-07
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0002] As a human-machine cooperation system, the master-slave teleoperation system can not only give full play to the advantages of robots in completing remote tasks, but also combine human intelligence to perform complex tasks and handle unexpected events. In the master-slave teleoperation task, the operator The perception of the environment is very important, but the communication delay makes it impossible for the operator to obtain real-time feedback information from the remote job site, which not only reduces the operating efficiency and quality, but also threatens the safety of the operation. Predictive display technology can improve the stability of the system at the same time sex and transparency

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  • Teleoperation robot prediction display method based on time delay prediction
  • Teleoperation robot prediction display method based on time delay prediction
  • Teleoperation robot prediction display method based on time delay prediction

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Embodiment Construction

[0039] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0040] like figure 1 As shown, in the master-slave teleoperation task, the operator gives the reference position and reference speed of the robot through the force feedback of the master hand, and the master-end controller calculates the position and speed of the slave-end robot in the joint space according to the reference quantity given by the master hand. The desired state is sent to the slave controller. After the slave controller receives the master command, it immediately sends the current state of the robot back to the master. The master controller measures the communication delay according to the time stamp and instruction number on the feedback data packet, and predicts the delay through the delay prediction module. The delay prediction result will be packaged into the next teleoperation instruction. The slave-end controller plans the ...

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Abstract

The invention relates to a teleoperation robot prediction display method based on time delay prediction, which is characterized in that the stretching and compression effects of time-varying time delay on master and slave control signals in a time dimension are regarded as system disturbance, and feedforward compensation is carried out on the disturbance by utilizing a time delay online prediction result. The method comprises the following steps: carrying out dynamic modeling on a teleoperation system based on predictive display, calculating an expected control quantity of a predictive display robot containing time delay disturbance, then taking a space teleoperation system with the most complex time delay composition as an example, analyzing a generation mechanism of communication time delay of the teleoperation system, and calculating the expected control quantity of the predictive display robot. And on-line prediction is carried out on the communication time delay according to the generation mechanism, the model and the statistical law.

Description

technical field [0001] The present application relates to the field of robotics, in particular to teleoperated robots, and more particularly, to a control system for a robot and a method for simulating the motion of a robot in the control system. Background technique [0002] As a human-machine collaboration system, the master-slave teleoperation system can not only give full play to the advantages of robots in completing remote tasks, but also perform complex tasks and handle unexpected events in combination with human intelligence. The perception of the environment is very important, but the communication delay makes it impossible for the operator to obtain the feedback information of the remote job site in real time, which not only reduces the operation efficiency and operation quality, but also threatens the operation safety. The prediction display technology can improve the stability of the system at the same time sex and transparency. In non-contact tasks, vision cont...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/23051Y02P90/02
Inventor 张峰崔龙刘钊铭王宏伟白宁田申缪磊许伟
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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