Motion mapping method and motion mapping system of heterogeneous master and slave system

Abstract

The invention provides a motion mapping method of a heterogeneous master and slave system. The method comprises the following steps of S1, acquiring the direction data of each connecting rod of a master arm, and determining the posture of the master arm corresponding to the direction data; S2, based on a unit dual quaternion, adopting the direction data of each connecting rod of the master arm asthe input, and mapping the posture of the master arm as the posture of a slave arm by adopting the forward kinematics FK algorithm and the inverse kinematics IK algorithm. Based on the motion mappingmethod and the motion mapping system of the heterogeneous master and slave system, the unit dual quaternion is combined with the forward kinematics FK and the inverse kinematics IK, and then the posture of the master arm is successfully mapped into the posture of the slave arm. The algorithm is simple and effective, and the method is easy to realize.

Description

Technical field [0001] The present invention relates to the field of heterogeneous master-slave robots, and more specifically, to a motion mapping method and system of a heterogeneous master-slave system. Background technique [0002] Teleoperation robots are widely used in elderly / disabled people (such as wheelchair robot arms) and teleoperation robot systems in dangerous or dangerous environments (radiation, explosion, chemistry, search and rescue, etc.). The remote operation environment is usually unstructured and constrained, and the remote operation tasks are usually complex, compound and unpredictable. Therefore, advanced autonomous robots cannot complete these tasks at this stage, but need an operator to use his Intelligence to control the robot to complete some special tasks. [0003] Ideally, the master arm and slave arm should have a similar kinematic structure, so that the remote operator’s arm motion can directly use the joint-joint direct mapping algorithm to control ...

AI Technical Summary

Problems solved by technology

[0005] However, due to the heterogeneous structure between the master arm and the slave arm, the methods provided by the prior art cannot take into account the position of the end effector and the direction of the connecting rod of the robot arm at the same time. Training is required to operate the system properly, and operator error is prone to occur, especially when teleoperated robotic systems are operating in unstructured, restricted obstacle environments

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