Virtual fixture control method and system with high auxiliary precision for robot operation

Abstract

The invention belongs to the related technical field of human-computer interaction, and particularly discloses a virtual fixture control method and system with high auxiliary precision for robot operation. The virtual fixture control method comprises the steps that manual operation force in the process of pulling a robot is preprocessed to obtain environment interaction force; the actual positionand posture of the robot end and the nearest reference point position and pose of a virtual fixture guiding path are obtained, and the position contour error compensation quantity and the direction contour error compensation quantity of the robot end are generated to obtain error compensation correction force; curve parameters of the virtual fixture guiding path are limited; and the environment interaction force is restrained to generate restrained operation force, and the path deviation of the robot end is compensated online according to the error compensation correction force. The virtual fixture control system comprises a kinesthetic teaching module under a virtual fixture and a contour error estimation and component compensation module. The virtual fixture control method and system enable the robot to be capable of moving back and forth on the virtual fixture guiding path, and have the characteristics of high auxiliary teaching precision, high adaptability and the like.

Description

technical field [0001] The invention belongs to the technical field related to human-computer interaction, and more specifically relates to a method and system for controlling a virtual fixture with high auxiliary precision for robot operation. Background technique [0002] Virtual fixtures are also called virtual constraints, which can be divided into guided virtual fixtures and forbidden area virtual fixtures functionally. At present, it is widely used in fields such as industry, medical treatment, and human-machine daily collaboration. At present, the commonly used virtual fixture control methods include proxy method, potential field method, and reference direction method, among which the reference direction method is widely used because of its simplicity. However, in the existing reference direction method virtual fixture control structure, there are generally problems such as low auxiliary teaching accuracy and the inability to obtain the nearest point on the path betw...

AI Technical Summary

Problems solved by technology

However, in the existing reference direction method virtual fixture control structure, there are generally problems such as low auxiliary teaching accuracy and the inability to obtain the nearest point on the path between the robot end and the virtual fixture with high efficiency and high precision. Therefore, it cannot meet the needs of high auxiliary teaching accuracy. Virtual fixture assisted operation tasks such as intraoperative guidance operation of surgical robots, assisted teleoperation robot assembly, and kinesthetic teaching of assisted robots, etc.

[0003] In the prior art, under the action of the virtual fixture assisted robot kinesthetic teaching control structure, although it can meet the requirements of assisted robot kinesthetic teaching to a certain extent, there are still the following problems: (1) When the initial state of the robot is not in the virtual When it is on the guide path of the fixture, it will cause the end of the robot to track a reference curve parallel to the guide path of the virtual fixture instead of the constructed virtual fixture guide path; (2) When the operator exerts too much operating force, the end of the robot will deviate from The reference curve of the guide path of the virtual fixture, and the deviation of the taught path increases accordingly

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