Force/position hybrid control method of multi-arm teleoperation robot based on performance function

Abstract

The invention relates to a forcer/position hybrid control method of a multi-arm teleoperation robot based on a performance function. The situation that the force/position coupling of an operation object and mechanical arms in the operation process in the actual operation process is considered, by correspondingly designing controllers of a master terminal and a slave terminal, in the control process of the slave terminal mechanical arm, by pre-designing the performance function of the mechanical arms, a force position hybrid controller of the slave terminal mechanical arm is designed, so that under the condition that a target is disturbed by certain external factors in the operation process, the influence of disturbance can still be reduced through the control of the mechanical arms, and the position, speed and acting force of the robot can be adjusted adaptively at the same time to ensure the stability of system operation, and thus the cooperative operation of multi-arm teleoperation is realized.

Description

technical field [0001] The invention belongs to the field of teleoperation, and relates to a multi-arm teleoperation robot force / position hybrid control method based on a performance function. Background technique [0002] At present, robots are widely used in fields such as industry, deep sea, space, medical treatment, and nuclear physics, replacing humans to complete tasks such as assembly, maintenance, and operation, avoiding damage to humans in these dangerous environments, and reducing the cost of task completion to a certain extent. However, due to the limited intelligence of the robot, it cannot complete the operation task autonomously in a time-varying or unknown operating environment, which requires the operator to operate the robot through teleoperation through the "human-in-the-loop" method. Multi-arm teleoperation technology has been applied in the medical field to a certain extent, such as the "Da Vinci" surgical robot, etc., but most of these multi-arm teleoper...

AI Technical Summary

Problems solved by technology

However, due to the limited intelligence of the robot, it is impossible to complete the operation task autonomously in a time-varying or unknown operating environment, which requires the operator to operate the robot through teleoperation through the "human in the loop" method

Multi-arm teleoperation technology has been applied in the medical field to a certain extent, such as the "Da Vinci" surgical robot, etc., but most of these multi-arm teleoperation robots use position control methods, but there is no control over the contact force during the operation process. Control, which will easily lead to excessive operating force / torque, which will exceed the range of actuator capabilities, and even cause damage to the mechanical arm

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