Dual-arm robot teleoperation control system shared by two persons

Abstract

The invention discloses a dual-arm robot teleoperation control system shared by two persons. By establishing a double-hand sharing operating module, operation mapping between both hands of two main hands and a robot is achieved; and then a main manipulator and an auxiliary manipulator are divided, and a main operating arm and an auxiliary operating arm are distinguished in the operating process of the main manipulator, so that operation assisting of the main manipulator is achieved. Meanwhile, the situations such as collision and misoperation of the auxiliary operating arm in the operating process of the main manipulator can be avoided, and thus barrier avoidance and double-hand fine teleoperation are achieved.

Description

【Technical field】 [0001] The invention belongs to the field of remote operation, and in particular relates to a remote operation control system for a dual-arm robot shared by two people. 【Background technique】 [0002] The current multi-manipulator operation usually requires each operator to operate a single manipulator independently. During the operation, the operators need to cooperate with each other, and the operation efficiency is low. Complete specific operation tasks in a timely manner, while operating a dual-arm robot through a single operator does not require interaction between operators, and since the operation instructions are issued by a single operator, the operation is more flexible and more suitable for complex Unknown operation scenarios have great application value. [0003] However, in the process of double-arm teleoperation, the two arms usually need to distinguish between the main operating arm and the auxiliary operating arm, and the operator's attenti...

AI Technical Summary

Problems solved by technology

[0003] However, in the process of double-arm teleoperation, the two arms usually need to distinguish between the main operating arm and the auxiliary operating arm, and the operator's attention is mainly concentrated on the main operating arm, and it is difficult to take into account the situation of the auxiliary operating arm at the same time, so it is possible As a result, the auxiliary manipulator arm collides with the unknown environment. Based on this problem, the present invention proposes a remote operation control system for a dual-arm robot shared by two people.

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