A Manipulator Control Method Based on Human-Machine Fusion

Abstract

The invention relates to a control method of a manipulator based on human-machine fusion, and belongs to the technical field of robot control. The control method includes the following steps: (1) obtaining the surrounding real-time scene image of the target object; (2) displaying the real-time scene image on the operating end, obtaining human arm joint angle data, and mapping the human arm joint angle data into The mapped joint angle data of the robotic arm θ H ; (3) According to the current position data and the predicted position data of the target object, the preset operation path is planned according to the polynomial path planning method, and the planned joint angle data θ for controlling the mechanical arm is obtained R ; (4) According to the formula θ S =(1‑α)θ H +αθ R Calculate the current execution joint angle data of the manipulator; the weight α increases as the confidence of the manipulator predicts the target object increases. This method can well integrate the advantages and disadvantages of the human arm and the mechanical arm, and its robot remote control and other fields.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a control method of a heterogeneous mechanical arm based on human-machine fusion. Background technique [0002] With the development of robot technology, in order to ensure the personal safety of operators, cameras are usually mounted on robots, such as the panoramic imaging system disclosed in the patent literature with the publication number CN108082415A, or a camera is arranged at its work site to obtain the scene To avoid the need for operators to enter the deep sea operation environment, bomb disposal and mine clearance and other operating environments that will affect the safety of operators. [0003] And after obtaining the environment scene image, the on-site operation action is simulated by the human arm, and by obtaining the joint angle data of the human arm during the on-site operation action, for example, the acquisition target walking method disclosed in the pa...

AI Technical Summary

Problems solved by technology

[0004] Based on the aforementioned remote control method, the safety impact on the operator can be well avoided. However, it is difficult to completely obtain all on-site 3D information due to the fact that people judge the on-site environment and distance through the impact data. Directly control the robot's mechanical arm movement based on the acquired joint data of the human arm during the demonstration movement

[0005] In addition, in the process of operation, there are the following problems. Although the mechanical arm has a humanoid structure, it is still difficult to have an isomorphic structure with the human arm, such as different degrees of freedom or arm lengths, that is, they are usually heterogeneous, making it difficult to use human arms. The joint data of the arm directly controls the operation of the humanoid manipulator. Although the theoretical data of the manipulator control can be directly obtained by using the workspace matrix, due to the heterogeneity of the two, the theoretical data calculated directly cannot be directly executed in some cases. , resulting in the following control cannot be realized in some cases

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