Double-person remote control operation training method based on virtual fixture

A technology of virtual fixtures and training methods, which is applied in the direction of manufacturing tools, manipulators, program-controlled manipulators, etc. It can solve the problems of poor guidance of coaches, poor coaching effect, and inability to quickly train newbies.

Active Publication Date: 2019-08-30
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the size of the weight is too subjective and requires multiple attempts, which cannot meet the purpose of quickly training novice

Method used

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  • Double-person remote control operation training method based on virtual fixture
  • Double-person remote control operation training method based on virtual fixture
  • Double-person remote control operation training method based on virtual fixture

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Embodiment Construction

[0050] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0051] A two-person remote operation training method based on a virtual fixture, comprising the following steps:

[0052] 1) At the master end of the operation, the trainer and the novice respectively control a dual-arm robot through the hand controller, and the slave end is a dual-arm robot. During the operation training task, a two-person dynamic model of the trainer and the novice is established:

[0053]

[0054] in, with i=1, 2 respectively represent the force applied by the operator (coach and novice) to the (left / right) hand controller; with i=1, 2 represent the control power of the operator's left and right hands (trainer and novice) respectively; with i=1, 2 respectively represent the mass model impedance of the driving force of the left and right hands of the operator (trainer and novice), and s is the Laplacian operator; with i=1, 2 r...

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Abstract

The invention relates to a double-person remote control operation training method based on a virtual fixture. Virtual fixture guiding force is introduced into training between a coach and a newcomer to guide the newcomer to operate the virtual fixture, the magnitude of the guiding force felt by the newcomer is in positive relationship with the deviation degree of guiding operation of the coach, the direction of the guiding force felt by the newcomer is in negative relationship with the deviation degree, and virtual fixture evaluation indexes can be adjusted along with the training degree of the newcomer. According to the double-person remote control operation training method based on the virtual fixture, the evaluation indexes of newcomer training are adjusted according to the newcomer training degree, and the training process and the training intensity can be updated in real time.

Description

technical field [0001] The invention belongs to the field of remote operation of robots, and relates to a method for using a virtual fixture as a training evaluation index and using a virtual guiding force for operation training. Background technique [0002] With the extensive application of robots in various fields, the previous way that robots operate according to pre-programmed instructions can no longer meet people's needs, and even in some scenarios, the autonomous work of robots cannot meet people's needs at all. At this time, it is necessary for humans and robots, or even between multiple people and robots to cooperate to complete the operation task, adding human intelligence to the control of the robot. Therefore, it is now faced with the problem of information exchange between humans and robots and operational training among multiple people. Generally, two-person operation training is divided into a trainer and a novice. The trainer refers to the operator with ric...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 刘正雄程瑞洲黄攀峰马志强
Owner NORTHWESTERN POLYTECHNICAL UNIV
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