Robot variable admittance control method and system based on operator comfort

Abstract

The invention belongs to the technical field of human-computer interaction, and particularly discloses a robot variable admittance control method and system based on operator comfort. The method comprises the following steps: 1, pre-processing a human hand operating force to obtain an environmental interaction force; 2, generating a virtual damping adjustment strategy according to an operator comfort force and a robot end actual pose; and 3, constructing a robot six-degree-of-freedom admittance control model according to the virtual damping adjustment strategy to obtain a deviation force between the environmental interaction force and an expected force, and generating correction amounts of the position, speed and acceleration of the robot end according to the deviation force so as to correct the robot end actual pose. The system comprises a man-machine interaction module, a human hand operating force pre-processing module, a variable admittance control module and a robot end position control module. According to the method and the system, the damping coefficient in the admittance control is adjusted in real time according to the operator comfort force and the robot tail end speed,the calculation is simple, the real-time performance is high, and the operation feeling and the immersion feeling of man-machine interaction are improved.

Description

technical field [0001] The invention belongs to the technical field related to human-computer interaction, and more specifically relates to a variable admittance control method and system of a robot based on operator comfort. Background technique [0002] Robots have the advantages of good flexibility, intelligence, and large operating space, and are widely used in parts processing, teleoperation, and medical robotics. Whether the robot has good compliance in the process of teaching and motion control is the basis for realizing a series of intelligent functions such as human-machine integration, compliant processing, and path guidance. Robot active compliance control is divided into direct force control, indirect force control, and intelligent control, and indirect force control is subdivided into impedance control and admittance control. Compared with impedance control, admittance control can improve the compliance in the process of human-computer interaction without relyi...

AI Technical Summary

Problems solved by technology

Although the robot can be operated by human hands under the admittance control, in some special cases such as the start and stop of the robot, sudden change of direction, etc., the movement will still be not smooth due to inertia

Due to the fixed admittance control parameters in the existing control scheme, the robot is prone to system instability due to excessive acceleration when the force applied by the operator is too large or the system is disturbed by the outside world.

An excessively large damping term will increase the burden on the operator. When the resistance term is small, it is difficult to control the robot's movements due to inertia and the system is unstable.

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