Kinesthesis teaching control method based on vision sense for remote control of robot

A control method and robot technology, applied in non-electric variable control, position/direction control, control/regulation system and other directions, can solve problems such as loss, achieve the effect of small amount of data, avoid blindness of robot manipulation, and relieve psychological tension

Inactive Publication Date: 2013-05-15
JILIN UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In some applications such as high speed and heavy load, the instantaneous impact of the robot on the working environment may cause irreparable losses before the operator perceives the reaction force of the on-site operation.

Method used

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  • Kinesthesis teaching control method based on vision sense for remote control of robot
  • Kinesthesis teaching control method based on vision sense for remote control of robot
  • Kinesthesis teaching control method based on vision sense for remote control of robot

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Embodiment Construction

[0037] The present invention will be described in further detail below in conjunction with embodiment and accompanying drawing, but the embodiment of the present invention is not limited to this embodiment, figure 1 A flow chart of the system is given.

[0038] According to the vision-based kinesthetic teaching control method of the telemanipulation robot, the present invention comprises the following steps:

[0039] S1. Using stereo vision technology to identify and extract spatial information of on-site operation objects and background environment (obstacles);

[0040] S2. Using the pose relationship between the work object and the end of the robot obtained in step S1 as a parameter, construct the virtual attractive force of the work object to the robot;

[0041] S3, taking the distance between the end of the robot and the background environment (obstacle) along its velocity direction obtained in step S1 as a parameter, constructing the obstacle repulsion force suffered by ...

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Abstract

The invention provides a kinesthesis teaching control method based on vision sense for remote control of a robot. The steps comprises the steps of using stereoscopic vision technology to identify an onsite operation object and a background environment (an obstacle) and extract space information; constructing virtual attraction of the operation object to the robot by using the pose relation of the operation object and the tail end of the robot calculated through vision identification as a parameter; constructing the obstacle repulsive force exerted by the robot by using the distance of the tail end of the robot and the background environment (the obstacle) along the speed direction of the robot as a parameter; combining the virtual attraction of the operation object, the obstacle visual repulsive force and the real acting force of the robot when the robot clamps objects into the teaching force of the robot; and through the jacobian matrix between a main end system and a sub end system, feeding back the teaching force to an operation handle, and therefore kinesthesis teaching to an operator is achieved. The kinesthesis teaching control method can effectively improve the intellectuality, the safety and easy handling of a main robot system and a sub robot system.

Description

technical field [0001] The invention belongs to the field of human-computer interaction of robots, and in particular relates to a vision-based kinesthetic teaching control method for a telemanipulation robot. Background technique [0002] With the rational development and utilization of the seabed, underground resources and space, robots have played an increasingly important role in the completion of tasks in extreme environments such as high temperature, high pressure, and strong radiation. Robots are developing in the direction of intelligence. However, due to the constraints of the development level of control, sensing and artificial intelligence, it is difficult to achieve a goal in the short term to develop a fully autonomous robot in a changing environment. Robot telecontrol technology involves human intelligence in the real-time control of robots, which greatly improves the adaptability of robots in complex environments. Therefore, it is the current development tren...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
Inventor 倪涛张红彦李骁鹏
Owner JILIN UNIV
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