Teleoperation robot collision early warning method based on position speed control

Abstract

The invention provides a teleoperation robot collision early warning method based on position speed control. The method comprises the steps of: firstly, seeing a master controller as an integrator, calculating the desired value of a robot position based on position integration, realizing effective correspondence between a robot task speed and a master controller position, then actively predicting the position of the robot in the future time according to the position signal of the master controller, generating an early warning force when the robot and the environment are close to a collision state, finally fusing a feedback force with a manual control force of an operator so as to guide the operator to control the robot to avoid an obstacle, and completing the operation process. According to the invention, human intelligent decision making is combined with machine intelligence, the operation precision and efficiency of the robot are effectively improved, the operation load of the operator is relieved, the dependence on the technical proficiency of the operator is lowered, and the robot control blindness caused by the system time delay is avoided.

Description

technical field [0001] The invention belongs to the field of robot human-computer interaction and robot remote operation, and in particular relates to a collision warning method for a remote operation robot based on position and velocity control. Background technique [0002] Working in extreme environments or dangerous environments that endanger personal safety, such as cleaning and rescue after earthquakes or nuclear accidents, ocean exploration, space development and utilization, etc., robots are playing an increasingly important role as a tool to replace humans. Therefore, teleoperation technology has been fully developed and applied. However, due to the constraints of the development level of mechanism, control, artificial intelligence, sensing and material technology, the development of autonomous robots cannot be realized in the short term. The operation method usually used in robot control is the direct control method, but there are still many problems in the operab...

AI Technical Summary

Problems solved by technology

Thirdly, the effective activity space of the hand controller is different from that of the robot, which will make it difficult to achieve high-precision operations and increase the workload of the operator [8]

When the range of activity of the hand controller is much smaller than that of the robot, it is difficult for the operator to grasp the control accuracy of the hand controller, and it is difficult for the robot to perform high-precision operations

Finally, the skill level and proficiency of the operator greatly affects the efficiency of the robot operation

There are usually great differences between the hand controller and the robot in terms of structure, size, and effective activity space range. In the process of manipulating the robot, especially in fine work tasks, the operator often needs to repeatedly adjust the posture of the robot to complete the work task. [9-11] , which will undoubtedly lead to low efficiency of robot operations

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