Method for improving transparency and stability of teleoperation robot
A teleoperated robot and transparent technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effects of no communication delay, simplified establishment, and improved transparency and stability
Active Publication Date: 2020-08-25
NANTONG UNIVERSITY
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[0007] Purpose of the invention: In order to solve the deficiencies of the prior art, the present invention provides a method for improving the transparency and stability of the teleoperation robot, which solves the problem that the prior art cannot achieve ultra-low delay in the slave environment in the application of the teleoperation system technical problem, the technical solution provided by the present invention has a significant effect on reducing the interaction delay of the slave environment
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[0026] Such as figure 1 As shown, a method to improve the transparency and stability of the teleoperated robot is to construct a preliminary human behavior model according to the operator and the current task, and establish the same human behavior model at both ends of the master and slave, and the system collects environmental information directly Input the slave-end model to output the master-end output prediction value, and the slave-end controller controls the interaction between the robot and the environment without communication delay according to the master-end output prediction value. The interaction between the slave end and the environment without communication delay is as follows: figure 2 As shown; while the environmental parameters are output, the slave end transmits the environmental parameters to the master end through the network and feeds back the environmental force to the operator through the master end controller, and collects the operator's output paramete...
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The invention discloses a method for improving transparency and stability of a teleoperation robot. The method comprises the following steps that preliminary human body behavior models are constructedat a master end and a slave end according to an operator and a currently executed task, a system acquires environment information and directly inputs the environment information into a slave end model, the slave end model predicts and outputs behaviors of the master end, and a slave end controller predicts the behavior of the master end according to the slave end model and controls the robot to interact with the environment without communication delay; and when the environmental parameters are output, the slave end transmits the environmental parameters to the master end through the network,feeds the environmental force back to an operator through a master end controller, collects the output parameters of the operator and compares the output parameters with the predicted value of the behavior of the master end, and real-time updating of the human body behavior model is carried out. According to the method, transparency and stability of a system slave end environment are improved, andestablishment of the human body behavior models is simplified; and the stability of the models in the operation process of the system is ensured through online updating of human body dynamics model and offline updating of a task type model.
Description
technical field [0001] The invention specifically relates to a method for improving the transparency and stability of a teleoperation robot, which is mainly applied to situations where the environment needs timely feedback in teleoperation tasks, can effectively solve the problem that the environment cannot obtain feedback in real time, and improve the stability of the system . Background technique [0002] With the birth and rapid development of artificial intelligence technology, the focus of robotics research has shifted to the field of intelligent robot research. People expect to develop fully autonomous intelligent robots that can replace humans to complete various tasks as soon as possible. Due to the fact that intelligent robot technology has not achieved the expected goals after nearly 30 years of large-scale research, and is limited by the level of mechanism, control, artificial intelligence and sensing technology, it is difficult to develop fully autonomous intelli...
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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1689
Inventor 钟永彦朱震陈娟董殿永曹礼勇刘凯施可昕向元柱
Owner NANTONG UNIVERSITY