A control device and equipment for a bilateral remote control system
An operating system and control device technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as the influence of robot uncertainty and force, and achieve the effect of improving precision
Active Publication Date: 2022-03-25
GUANGDONG UNIV OF TECH
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Problems solved by technology
[0005] The purpose of the present invention is to provide a control device and equipment for a bilateral telemedicine operating system to solve the impact of the dynamic operating environment on the robot of the bilateral telemedicine operating system caused by uncertain forces
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Embodiment Construction
[0046] The core of the invention is to provide a control device and equipment for a bilateral telemedicine operating system, which improves the accuracy of the bilateral telemedicine operating system robot tracking the movement state of the target environment.
[0047] In order to make those skilled in the art better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0048] Please refer to figure 1 , figure 1 This is a structural block diagram of a control device of a bilateral teleoperation system provided by an embodiment of the pres...
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The invention discloses a control device and equipment for a bilateral teleoperation system, comprising: an estimation module for inputting a motion state simulation reference value output by a target environment model and a motion state measurement value output by the target environment of the bilateral teleoperation system into a In the estimation algorithm model, the optimal estimation value of the motion state is output; the feedforward compensation value output module is used to input the optimal estimation value into the static target environment model, and output the feedforward compensation value; the determination module is used to utilize the The force feedback value output by the target environment is subtracted from the feedforward compensation value to determine the target force feedback value; the feedback module is used to send the target force feedback value to the slave robot of the bilateral telecontrol system, and the target force feedback value is sent by the The target force feedback value is fed back from the robot to the operator of the bilateral teleoperating system. The device and equipment provided by the present invention improve the precision of the bilateral teleoperation medical system robot tracking the movement state of the target environment.
Description
technical field [0001] The invention relates to the technical field of robot control, in particular to a control device and equipment for a bilateral teleoperating system. Background technique [0002] In the complex modern working environment, some work has been done by robots instead of manual work. However, due to the limitations of the current development level in the fields of sensors and artificial intelligence, robots cannot effectively complete high-precision tasks autonomously in complex environments. The robot control technology based on the bilateral teleoperating system embeds the artificial intelligent decision-making of the main control terminal into the control of the robot, which greatly improves the working efficiency of the robot. The ability of bilateral teleoperation for medical applications becomes critical with the study of force-sensing devices. Stability and real-time tracking are the main pain points of bilateral teleoperating systems. When the syst...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭靖刘奕周鹏宇高军礼刘超
Owner GUANGDONG UNIV OF TECH