Hydraulic manipulator teleoperation control system and method

Abstract

The invention discloses a remote operation control system and a method of a hydraulic mechanical arm, and relates to the technical field of control of hydraulic mechanical arms. The control system comprises an operation major hand for field control by operators, and a hydraulic slave hand for being remotely controlled, wherein toque motors and potentiometers are mounted at all joints of the operation major hand; hydraulic oil cylinders, angle sensors and pressure sensors are mounted at all joints of the hydraulic slave hand; an operation major hand controller is arranged on the operation major hand; a hydraulic slave hand controller is arranged on the hydraulic slave hand; and a communication system is arranged between the operation major hand controller and the hydraulic slave hand controller. In the remote operation control system and method of the hydraulic mechanical arm, based on the force sense feedback between the operation major hand and the hydraulic slave hand, the operators can be immersed in the operation environment, the natural interaction between the operators and the environment is realized, the remote control operation task is effectively finished, and the task execution efficiency is improved.

Description

technical field [0001] The invention relates to the field of hydraulic mechanical arm control, in particular to a hydraulic mechanical arm teleoperation control system and method based on force sense and visual presence. Background technique [0002] As a benchmark of the high-tech industry, the robot industry has developed rapidly in recent years, and its application fields have continued to expand. Both teleoperated robots and industrial robots are developing towards intelligent robots to complete tasks that cannot be reached by operators or in dangerous environments. The control concept of robot teleoperation is to enhance the control performance of the robot on the basis of ensuring the safety of the system. [0003] In view of the inherent characteristics of the teleoperation robot system, the operator is in a remote safe place during the entire operation process and cannot personally perceive the real environment of the robot operation site. He can only rely on the fee...

AI Technical Summary

Problems solved by technology

[0003] In view of the inherent characteristics of the teleoperation robot system, the operator is in a remote safe place during the entire operation process and cannot personally perceive the real environment of the robot operation site. He can only rely on the feedback image, sound, force / tactile and other auxiliary information. However, due to the limitation of mechanism, control, artificial intelligence and sensing technology level, when teleoperating the robotic arm, it relies too much on the skill level and proficiency of the operator, resulting in low control efficiency , at the same time, in a state of high concentration, long-term operation can easily cause operator fatigue, and it is difficult to have both safety and controllability

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