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A teleoperation control system for a two-person sharing dual-arm robot

A technology for teleoperation control and robotics, applied in the field of teleoperation, which can solve the problems of collision of auxiliary operating arms, difficulty in taking into account auxiliary operating arms at the same time, etc.

Active Publication Date: 2018-04-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • A teleoperation control system for a two-person sharing dual-arm robot
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  • A teleoperation control system for a two-person sharing dual-arm robot

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Embodiment Construction

[0048] The present invention is described in further detail below in conjunction with accompanying drawing:

[0049] see Figure 1-Figure 3 , which includes the following five steps:

[0050] 1. Establish a dynamic model of two-handed operation:

[0051]

[0052] in, and is the force exerted by operator i on the left and right controllers, and is the actual control force of operator i, and are the operating impedance of operator i, respectively, and Let be the velocity variables for operator i's left and right hands.

[0053] In the task model, a dynamic model of the hands of the two operators is established

[0054]

[0055] in, and respectively represent the mass model impedance of the driving force of operator i’s left and right operators, s is the Laplacian operator, and are the left and right hand control forces of operator i.

[0056] 2. Establish the dynamic model of the slave-side dual-arm robot:

[0057] In the task model, establish a...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1682
Inventor 黄攀峰鹿振宇刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV