A high-dimensional manipulator arm teleoperation method for service robots

Abstract

The invention provides a high-dimensional manipulator teleoperation method for service robots, including a gesture recognizer, immersive virtual 3D glasses, an embedded processor with a router, and a service robot; the manipulator adopts an autonomous motion planning method. The planning method is run autonomously by the teleservice robot, and this autonomous motion planning method is a sampling-based path planning method. The present invention can control in real time and experience the movement of the arm of the remote service robot from the first perspective, and the robot itself can autonomously plan a feasible movement path according to its real environment. This invention can not only be applied to domestic service robots, but also has very wide application value in the fields of industrial robots and industrial virtual manufacturing.

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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