Mixed switchover work space mapping method of master-slave isomerous teleoperation robot

Abstract

The invention discloses a mixed switchover work space mapping method of a master-slave isomerous teleoperation robot. When a master end and a slave end are in an outside motion range far away from a captured target, a mapping manner of joint space-joint space is adopted; when the master end and the slave end are in an inside motion range close to the captured target, a mapping manner of operation space-operation space is adopted; when the master end and the slave end move to the inside motion range from the outside motion range, a specific joint-operation transitional manner is adopted for switchover; and when the master end and the slave end move to the outside motion range from the inside motion range, a specific operation-joint transitional manner is adopted for switchover back. The mixed switchover work space mapping method is simple and convenient to implement and high in computational efficiency, can meet flexibility and operation handfeeling of large-range motion and accurate positioning of local precise operation, and realizes smooth transitional switchover.

Description

technical field [0001] The invention belongs to the technical field of teleoperation robots, and in particular relates to a working space mapping method of a master-slave heterogeneous teleoperation robot with hybrid switching. Background technique [0002] With the development of modern industrial technology, it is often difficult for people to directly access many exploration jobs and work environments. Although modern robot technology has been greatly developed, in an unstructured environment, fully autonomous robots will not be able to be realized for a long time in the future, and human beings need robots to help people complete specific dangerous or human-inaccessible tasks. needs are urgent. Therefore, the master-slave teleoperation robot system working in the mode of human-computer interaction becomes an effective solution. Different from the fully autonomous robot, the control signal of the teleoperated robot is given by the operator through the main device, and t...

AI Technical Summary

Problems solved by technology

[0005] The existing workspace mapping schemes are all based on the operation space, and the algorithm implementation is relatively complicated.

Master-slave heterogeneous teleoperation robot system workspace mapping methods include constant ratio, variable ratio control, rate control, workspace drift control, boundary drift control, position-velocity switching control, etc. Position control has accuracy problems, and rate control cannot Realize fast movement, it is difficult to realize accurate position positioning

Although the hybrid control can overcome the defects of the two, the switching method of position and speed has not been solved well, and sometimes it will cause misoperation and instability.

At the same time, the above methods mostly focus on how to map the point position in the small working space of the master to the point position in the large working space of the slave device, that is, the point-to-point mapping, which is required for the assembly and clamping operation of the teleoperated industrial robot. The pose information of , that is, the pose-pose mapping task is not further studied

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