A Nonholonomic Teleoperation Constrained Control Method Based on Complex Manipulation Tasks

Abstract

The invention discloses a non-integrate teleoperation constraint control method based on complex operation tasks. The complex operation tasks are decomposed by calculating the constraint matrix CVF, and a constraint controller is designed finally. Compared with a general mechanical arm control method, the non-integrate teleoperation constraint control method has two beneficial effects on the aspects of the task level and control method for complex space control tasks, specifically, the control tasks which a mechanical arm needs to complete in the space include approaching the target, tracing the path, avoiding obstacles and the like, and since proper movement spinor collections are selected according to the different operation tasks so as to establish the constraint matrix, the method has a better capacity of adapting to the complex tasks compared with prior methods; and besides, by means of the non-integrate teleoperation constraint control method, operation is more flexible, an operator can control the mechanical arm to move only in the horizontal motion direction or rotation direction, no extra constraint is needed, and accordingly the stress of the operator is relieved.

Description

【Technical field】 [0001] The invention belongs to the technical field of space teleoperation, and relates to a non-complete teleoperation constraint control method based on complex operation tasks. 【Background technique】 [0002] In many fields of robotics, it has been proved that the virtual fixture can improve the task execution time and overall accuracy. However, the fixture is also an insensitive auxiliary. And the attitude is controlled at the same time, in the case of ensuring the optimal position control, the accurate control of the terminal attitude is often lost. In order to achieve a good operation effect in space teleoperation, it is necessary to add appropriate assistance to the end of the manipulator, so that it can flexibly coordinate its position and attitude according to the task environment and operation tasks. [0003] In an unstructured environment, the robot's movement is subject to geometric and dynamic constraints, and the degrees of freedom in transla...

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Problems solved by technology

[0003] In an unstructured environment, the robot's motion is subject to geometric and dynamic constraints, and the degrees of freedom in translation and rotation are limited

In the process of space teleoperation tasks, the end of the manipulator can generally complete the operation task only under the constraint of the translation direction. However, for some complex space manipulation tasks, only the constraint of the translation direction cannot guarantee the efficiency and safety of the operation. Therefore, it is required to add an auxiliary function to the rotation direction of the end of the manipulator, so that the operator can dynamically change the virtual fixture auxiliary effect of the translation and rotation direction according to the actual operating environment, so as to better complete the teleoperation task

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