Man-machine interaction control method of robot system in unknown environment

A robot system, technology of unknown environment, applied in the field of robot teleoperation, can solve problems such as inability to solve tasks, not easy, etc.

Active Publication Date: 2017-02-15
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Existing methods include hybrid force / position control system and impedance control system. The control based on the hybrid force / position system structure is relatively simple and cannot solve tasks in more complex unknown environments.
Using the impedance control system structure, the movement of the robot is controlled by the force from the environment, but how to obtain an impedance model and an optimal reference trajectory to meet the performance requirements of human-computer interaction is not easy

Method used

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  • Man-machine interaction control method of robot system in unknown environment
  • Man-machine interaction control method of robot system in unknown environment
  • Man-machine interaction control method of robot system in unknown environment

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Embodiment Construction

[0103] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0104] Step 1: Establish the kinematic equation of the robot arm:

[0105] X(t)=φ(q(t)) (30)

[0106] In the formula, is the position of the manipulator in Cartesian space, is the position of the manipulator in the corresponding joint space, n C is the size of the Cartesian space, and n is the degree of freedom of the robot. Differentiating with respect to time t, we get

[0107]

[0108] In the formula, Is the Jacobian matrix, and then deriving with respect to time t, we get

[0109]

[0110] Therefore, the dynamic expression of the joint space of the manipulator is

[0111]

[0112] In the formula, is the inertia matrix, represent Gothic and centrifugal forces, means gravity, Indicates the control input, Indicates the interaction force with the environment. Substitute Equation (30), Equation (31) and Equation (32) into Equation (33...

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Abstract

The invention relates to a man-machine interaction control method of a robot system in an unknown environment. A referent track is improved by reference self adaption of a robot mechanical arm in man-machine interaction, so that the man-machine interaction performance needed by a user can be realized by the robot even in an unknown environment. On the basis of the reference self adaption based on a track parameter and repeated learning, minimization is realized; and the track tracing and force minimization are described by using a minimized cost function, wherein the cost function has been parameterized and the track parameter has been minimized. And a robot established based on a target impedance model is controlled. The provided method being a repeated learning method can be applied to remote operation of a robot in an unknown environment and has advantages of good man-machine interaction, good real-time performance and high accuracy.

Description

technical field [0001] The invention belongs to the field of remote operation of robots, and relates to a human-computer interaction control method for a robot system in an unknown environment. Background technique [0002] In the teleoperation system, humans interact with the remote environment through human-computer interaction interfaces, communication networks, and remote robots, and realize the control of remote robots. On the one hand, through the intervention of the operator, the system solves the problem that the robot has insufficient ability to determine the task target and decision-making ability under the limitation of artificial intelligence and sensing technology, and cannot complete the advanced decision-making in a complex and unknown environment completely autonomously. Insufficient tasks; on the other hand, taking advantage of the computing advantages of robots in operation accuracy, complex task allocation, and path planning, organically combines human int...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 黄攀峰程瑞洲鹿振宇刘正雄孟中杰张夷斋张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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