A collision warning method for teleoperated robots based on position and velocity control

Abstract

The invention provides a collision early warning method for a teleoperated robot based on position speed control. The steps include: first treating the main hand controller as an integrator, calculating the expected value of the robot position through position integration, and realizing the robot task speed and hand control. effectively correspond to the position of the hand controller, and then actively predict the position of the robot in the future based on the position signal of the hand controller, generate an early warning force when the robot and the environment are approaching a collision state, and finally integrate the feedback force with the operator's manual control force to guide the operator Control the robot to avoid obstacles and complete the operation process. The invention can combine human intelligent decision-making with machine intelligence, effectively improve the operating accuracy and efficiency of the robot, reduce the operator's operating burden, reduce dependence on the operator's technical proficiency, and avoid blindness in robot control caused by system delays. .

Description

technical field [0001] The invention belongs to the field of robot human-computer interaction and robot teleoperation, in particular to a collision warning method for a teleoperation robot based on position and speed control. Background technique [0002] Working in extreme environments or dangerous environments that endanger personal safety, such as post-earthquake or nuclear accident site clean-up and rescue, ocean exploration, space development and utilization, etc., robots play an increasingly important role as a tool to replace humans in operations. Therefore, the teleoperation technology has been fully developed and used. However, due to the constraints of the development level of mechanism, control, artificial intelligence, sensing and material technology, the development of autonomous working 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 operabili...

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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