System and method for controlling master and slave teleoperation of robot arm force reflecting telepresence

Abstract

The invention discloses a system and a method for controlling master and slave teleoperation of robot arm force reflecting telepresence. The system comprises a master robot arm control system, a master control system and a slave robot arm control system. The system has the advantages that by utilizing the control strategy, the property is stable, the information processing is smooth and stable, and the requirement of the master and slave control tasks is met; wireless communication modules are arranged on a master robot and a slave robot, so the wireless transmission of control instructions and sensor signals is realized; by utilizing the master and slave isolation type, the master and slave tracking and the good force reflecting sense of a master robot arm are realized; by adopting the master and slave control type, the complicated operation is completed; by collecting the information through sensors, the operation property is improved.

Description

technical field [0001] The invention relates to a master-slave remote operation control system and method for a mechanical arm force sense and telepresence. Background technique [0002] With the development of marine and cosmic resources, the cleaning of nuclear power plant waste, high-voltage live work, microsurgery and other high-risk, high-voltage, strong radiation, and fine work requirements continue to increase, the research on master-slave teleoperation becomes more urgent. [0003] For unstructured environments that are inaccessible or harmful to people, the operator controls the main hand in a safe place to remotely control the slave hand to enter the dangerous area to perform operations. The slave hand follows the movement of the main hand and interacts with the environment. force is transmitted to the operator. Only by providing the operator with real visual and force information can the operator complete complex and delicate tasks. [0004] The existing master-...

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Problems solved by technology

[0005] (1) Two-way position feedback is used to realize position tracking and force sense reproduction, but due to the position error that cannot be eliminated between the master and slave hands, the movement of the system in free space is also very "sluggish", which directly affects the operating performance of the system;

[0006] (2) By using different fusion methods of the position and force information on both sides of the master and slave hands, the information fusion of multiple sensors can be realized to form different control strategies. However, when the force of the slave robot directly acts on the master robot, when the slave robot From free movement to sudden contact with larger rigid objects, there will be a greater impact on the main robot

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