Master-slave heterogeneous robot universal control method and system based on master-slave space mapping

Abstract

The invention discloses a master-slave heterogeneous robot universal control method and system based on master-slave space mapping. After an operator inputs connecting rod parameters of a master manipulator and a slave manipulator to the control system, the control system conducts mapping and conversion on the position, the speed and force of the master manipulator and the slave manipulator through the D-H parameter method and the Jacobian matrix method, and accordingly accurate control over the slave manipulator from the master manipulator is achieved. By means of the master-slave heterogeneous robot universal control method and system based on master-slave space mapping, mapping control over the master manipulator with any freedom degree and the slave manipulator with any freedom degreecan be achieved, accurate position and speed control over a robot at any slave manipulator end from any master manipulator end, accurate force feedback to the master manipulator from the slave manipulator is achieved, safety monitoring can be conducted on the system in real time, and very high universality and safety are achieved.

Description

technical field [0001] The invention belongs to the field of remote operation robots, and relates to a general master-slave space mapping and control method for a master-slave heterogeneous robot. Background technique [0002] With the continuous development of various technologies, robots have gradually entered various fields of production and life. For example, in the production lines of many industrial sites, only the program needs to be adjusted, and the robot can automatically complete the production tasks. However, in many industrial control sites, chemical plants, nuclear plants, etc., due to the complex environment of the plant and the high risk, manual methods cannot be used in consideration of the safety of workers, and it is difficult to To realize the complete automation of the production process, the combination of the two produces a master-slave teleoperation robot. In addition, the minimally invasive surgical robot in the medical field also adopts the remote ...

AI Technical Summary

Problems solved by technology

According to the survey, the existing master-slave heterogeneous control methods are usually only suitable for a certain type of master-slave robot

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