Planning method and system for determining robot track through using virtual reality handle

Abstract

The invention relates to a planning method and system for determining a robot track through using a virtual reality handle. The planning method includes the steps of obtaining an initial handle posture of the virtual reality handle and an initial posture of a robot, and obtaining a present handle posture of the virtual reality handle in a first sampling period; pre-treating the initial handle posture and the present handle posture and obtaining the posture increment of the virtual reality handle, and converting into the posture increment of the robot; determining an objective posture according to the initial posture and the posture increment of the robot; connecting the discrete points which represent the objective posture of the robot into a broken line, inserting a transition section track between any adjacent two broken lines, conducting smoothing treatment, and obtaining a smooth curve, specifically, the smooth curve includes a position curve and a posture curve; and conducting posture interpolation on the smooth curve and obtaining discrete interpolation points, and thus determining the travelling track of the robot rapidly according to the interpolation points.

Description

technical field [0001] The technical field of motion trajectory planning of a teleoperated robot, in particular relates to a planning method and system for determining a trajectory of a robot by using a virtual reality handle. Background technique [0002] Teleoperation robot technology can dynamically realize the operation tasks in a specific environment by remotely operating robots. This technology is often used in environments that are difficult to manually operate on site, such as space operations, underwater operations, atomic energy operations, military fields, remote applications, medical care, etc. Through manual remote operation, command information is generated, converted into control signals, and sent to the on-site robot after processing to realize specific operation tasks. Due to the specific properties of the operating equipment, it often needs to undergo certain processing and conversion to become an instruction adapted to the robot, and then generate specifi...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above problems in the prior art, that is, to solve the fast conversion method from the virtual reality handle to the robot movement, so that the robot can follow the instruction information of the handle as soon as possible within the allowable kinematic range, while avoiding shaking and trajectory To solve the problem of tortuousness, the present invention provides a planning method and system for determining the trajectory of a robot using a virtual reality handle

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