Master-slave heterogeneous teleoperation control system based on ROS

Abstract

The invention provides a master-slave heterogeneous teleoperation control system based on ROS, and belongs to the technical field of robot master-slave teleoperation. According to the master-slave heterogeneous teleoperation control system, the mapping problem of inconsistency of a master-slave space in master-slave heterogeneous control is solved, the ROS is introduced into the control system, and a rich robot toolkit and a convenient and fast communication system are provided for the control system. A master-end manipulator and a teaching box are subjected to serial communication through a master-end controller, a slave-end controller and the teaching box are connected through a network cable to establish a local area network, data interaction of the slave-end controller and the teachingbox are achieved, and movement control of a plurality of slave-end modules is achieved through the slave-end controller; each slave-end module comprises a PMAC movement controller, a motor driver anda slave-end mechanical arm; the PMAC movement controllers are connected with the slave-end controller through the network cable; and the PMAC movement controllers drive the slave-end mechanical armsthrough the motor drivers. According to the master-slave heterogeneous teleoperation control system based on the ROS, the master-end manipulator controls the slave-end mechanical arms to conduct fineoperation, and control of the master-end manipulator over the slave-end mechanical arms can also be simulated.

Description

Technical field [0001] The invention relates to a master-slave heterogeneous teleoperation control system based on ROS, which belongs to the technical field of robot master-slave teleoperation. technical background [0002] With the further implementation of the national deep-sea and deep-space strategy, the Chinese are moving step by step toward the inaccessible space of human beings. People urgently need robots to replace humans to reach these dangerous environments and do things that need to be done by humans. In this context, teleoperation robots and space teleoperation manipulators have become research hotspots. Teleoperation technology is a master-slave mechanical control technology. Humans achieve the purpose of controlling the slave hand by controlling the movement of the master hand. [0003] At present, there are two widely used and mature remote operation master-slave control methods. One is to control the corresponding control method of the robot arm joint by rotating ...

AI Technical Summary

Problems solved by technology

These two control methods belong to the joint space control method. Although the technical implementation is simple, the immersive experience of the former user is poor, and the latter limits the selection of slave device types.

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