Robot hand controller shared control method based on force fusion

Abstract

The invention provides a hand controller shared control method based on force fusion. The method includes the steps that first, a target object serves as guidance, an operator manipulates a hand controller by human hands to control a robot to move through intelligent decision of the operator; meanwhile, operation scene image data are acquired through a stereoscopic vision technology, a three-dimensional environment is reconstructed in real time, virtual guiding force for making the robot approach a target independently is constructed with the target object as the guidance, the hand controller is guided through the virtual force to control the robot to move, the operating force of the operator and the virtual guiding force of the target object are fused, the hand controller and motion of the robot are controlled through the fused force, and thus the robot can approach the target object under the joint action of machine intelligence and human intelligence, and the operation process is completed. Through the robot hand controller shared control method based on force fusion, human intelligence and machine intelligence can be effectively combined, and safe and fast operation is guaranteed.

Description

technical field [0001] The invention belongs to a control method of a robot, in particular to a hand controller sharing control method based on force fusion. Background technique [0002] 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 develop a fully autonomous robot in a changing environment in the short term. The control terminal, referred to as the hand controller, is a bridge for human-computer interaction between the operator and the robot, and must have high control efficiency and real-time performance. In the long run, the autonomous control of the robot's operation is mainly controlled in real time through the robot operation terminal. [0003] However, in today's complex ...

AI Technical Summary

Problems solved by technology

Although shared control has been widely used in robot control occasions such as unpredictable environments and unreliable control signals caused by time delays, existing shared control methods generally have problems such as many sensing signals and complex control systems, and no matter the degree of freedom The shared control method of segmentation and fusion (human manual and robot autonomy control different degrees of freedom of the robot separately, rather than jointly controlling a certain degree of freedom), or the task decomposition control method based on vision sharing (human first manually manipulates the robot to the specified location, the robot will complete the task independently), the intelligence of the operator and the intelligence of the robot are still relatively independent in the control loop, and the degree of integration is not high, so it is difficult to adapt to the complex and changing working environment

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