Teleoperation method of high-dimensional motion arm aiming at service robot

Abstract

The invention provides a teleoperation method of a high-dimensional motion arm aiming at a service robot. The high-dimensional motion arm comprises a gesture recognizer, a pair of immersive virtual 3D glasses, an embedded processor with a router and the service robot; an independent motion planning method is adopted for a mechanical arm, the planning method is independently operated by a remote service robot, and the independent planning method is a path planning method based on sampling. By using the teleoperation method, the motion of arms of the remote service robot can be controlled in real time and can be experienced in a first visual angle, and the robot can independently plan a feasible motion path according to true environment. The teleoperation method can be applied to home service robots and has wide application values in the fields of industrial robots and industrial virtual manufacturing industries.

Description

technical field [0001] The invention relates to the field of service robots, in particular to a control method for remotely controlling a high-dimensional mechanical arm of a service robot to grab objects in a complex environment through a gesture capture system. Background technique [0002] With the rapid development of robot technology, robots have been widely used in various fields, such as industrial manufacturing, military exploration, and the rising civilian service industry. Nowadays, with the rapid development of information and the accelerated pace of people's work and life, people hope to be freed from heavy housework and spend more time on the things they want to do; on the other hand, due to changes in family patterns and lifestyles Changes have resulted in a decrease in the birth rate, coupled with the continuous advancement of health care technology, the aging of human society is accelerating, and the future population structure will gradually become an invert...

AI Technical Summary

Problems solved by technology

In the remote control methods of service robot remote manipulators published in academic journals or invention patents, there are mainly two limitations: first, they are aimed at remote manipulators in a simple environment (mainly referring to fewer obstacles) control, and in practical applications, there are many obstacles in the environment, and the traditional methods cannot guarantee the safety and collision-free of the manipulator; secondly, they use expensive force feedback equipment on the user side to remotely control the robot, which makes the manipulator with the manipulator of service robots cannot be civilianized

This invention patent focuses on solving the problem of network delay, but in the era of high-speed networks in the future, the delay problem will have little impact on robot operation. In addition, this invention adopts an isomorphic master-slave hand system that is not common in practical applications, so this The scope of application of the invention is very limited

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