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Variable impedance resistance control device and method based on real-time force feedback

A technology of remote operation control and impedance controller, which is applied in the field of remote operation, and can solve problems such as failure to achieve results, inability to adapt to changes in the application environment, and poor performance of the controller.

Active Publication Date: 2019-07-05
BEIJING INSTITUTE OF TECHNOLOGYGY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method can usually adapt to the specific scene, but when the environment changes, the performance of the controller often deteriorates and does not achieve the desired effect
If the working performance is to be guaranteed, the impedance parameters need to be readjusted for the new environment, and cannot adapt to changes in the application environment.

Method used

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  • Variable impedance resistance control device and method based on real-time force feedback
  • Variable impedance resistance control device and method based on real-time force feedback
  • Variable impedance resistance control device and method based on real-time force feedback

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] figure 1 It is a structural block diagram of a variable impedance teleoperation control device based on real-time force feedback in Embodiment 1 of the present invention.

[0044] see figure 1 , the variable impedance teleoperation control device based on real-time force feedback includes: a master device, an impedance controller 7, a Kalman filter device 8 and a slave device. The master device includes an impedance parameter input module 1, the master attitude sensor 2 and the master force feedback device 3; the slave device includes: the slave attitude sensor 4, the slave mechanical arm 5 and the slave force sensor 6;

[0045] The master-end attitude sensor 2 is arranged on the master-end force feedback device 3; the slave-end attitude sensor 4 and the slave-end force sensor 6 are arranged at the end of the slave-end mechanical arm 5; the slave-end The signal output end of force sensor 6 is connected with the signal input end of described impedance controller 7 and ...

Embodiment 2

[0058] Embodiment 2 discloses a variable impedance teleoperation control method based on real-time force feedback, and the control method is applied to the variable impedance teleoperation control device based on real-time force feedback in Embodiment 1.

[0059] The control method includes: a setting process and a control process.

[0060] 1. Setting process:

[0061] The tuning process is to pre-set the impedance parameters of the impedance controller before the control process is executed. No further tuning will be performed after this tuning process is complete.

[0062] The control expression of the impedance controller controlling the slave manipulator is

[0063]

[0064] In the formula: represents the desired trajectory.

[0065] x r is the position coordinate of the desired end of the slave manipulator.

[0066] X, Reflect the end position, velocity and acceleration of the slave robot arm.

[0067] m d ,B d ,K d Both are impedance parameters, represent...

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Abstract

The invention discloses a variable impedance resistance control device and method based on real-time force feedback. According to the variable impedance resistance control device, a main end attitudesensor is arranged on main end force feedback equipment; an auxiliary end attitude sensor and an auxiliary end force sensor are arranged at the tail end of an auxiliary end mechanical arm; the signaloutput end of the auxiliary end force sensor is separately connected at the signal input end of a resistance controller and the signal input end of a Kalman filter; the signal output end of the Kalmanfilter is connected at the signal input end of the main end force feedback equipment; the signal output ends of the main end attitude sensor, the auxiliary end attitude sensor and a resistance parameter input module are all connected to the signal input end of the resistance controller; and the controlling output end of the resistance controller is connected to the controlling input end of the auxiliary end mechanical arm. According to the variable impedance resistance control device and method based on the real-time force feedback, a resistance parameter is not needed to be reset when environment is changed, so that the variable impedance resistance control device and method based on the real-time force feedback can adapt for environmental changes.

Description

technical field [0001] The invention relates to the field of teleoperation, in particular to a real-time force feedback variable impedance teleoperation control device and method. Background technique [0002] Teleoperation system is a typical human-computer interaction system, widely used in nuclear power plants, outer space exploration and telemedicine and other fields. A typical teleoperation system includes an operator at the master end, a force feedback device and a controlled robotic arm at the slave end. The master sends movement instructions to the slave robotic arm and receives the force information fed back from the slave robotic arm. The force feedback device provides the operator with a real sense of tactile and force presence. The robotic arm is in the remote environment under the control of the operator. Completing complex tasks is like an extension of the operator's limbs. [0003] In order to ensure the safety and flexibility of the slave manipulator, the c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1638B25J9/1653B25J9/1689
Inventor 李健李贵斌陈振刘向东
Owner BEIJING INSTITUTE OF TECHNOLOGYGY