Control method and device based on intention of operator, computing equipment and storage medium

Abstract

The invention discloses a control method and device based on the intention of an operator, computing equipment and a storage medium. The control method based on the intention of the operator comprisesthe steps that an ideal movement direction matrix and a prohibition movement direction matrix are constructed on the basis of a virtual clamp guide path; the error compensation force is obtained on the basis of the actual operation force, acting on a robot tail end, of the operator; the error compensation correction force is obtained according to an actual path of the robot tail end and the virtual clamp guide path; an operator intention parameter value is obtained; and the current operation force of the robot tail end is obtained on the basis of the ideal movement direction matrix, the prohibition movement direction matrix, the error compensation force, the error compensation correction force and the operator intention parameter value. By the adoption of the control method and device based on the intention of the operator, the computing equipment and the storage medium, the robot tail end can be restrained to move in the expected direction which more conforms to the actual working condition, the humanization, the wisdom and the intelligence of a virtual clamp are guaranteed, the man-machine combination is improved, and the accuracy of the executing process of the robot tail end is ensured.

Description

technical field [0001] The invention belongs to the technical field of virtual fixture control, and more specifically relates to a control method, device, computing device and storage medium based on operator intention. Background technique [0002] Virtual fixture technology is a generative motion constraint algorithm implemented by software programming method, which is widely used in industrial, medical and other fields. The virtual fixture technology can realize the constraint of the mechanical rigid fixture on the prohibited movement direction in the virtual space. Based on the high precision and stability characteristics of the robot itself, it can assist the robot to accurately move along the desired direction. At the same time, due to the manual control of the operator, A certain degree of flexibility is reserved for the robot. However, in the process of using the virtual fixture construction method, it may occur that the virtual fixture constructed based on prior kn...

AI Technical Summary

Problems solved by technology

However, in the process of using the virtual fixture construction method, it may occur that the virtual fixture constructed based on prior knowledge cannot completely match the ideal curve or surface, or the original planned path needs to be changed due to safety issues, or disturbances occur during robot operation. , obstacles and other emergencies, such as when the end of the medical robot is guided, in the face of changes in the surgical environment and the surgical condition of the surgeon, it is difficult for the virtual fixture to be adaptively adjusted according to the surgeon's intention; or when the end of the grinding robot is guided , it is difficult to make adaptive adjustment according to the operator's intention according to the complex processing surface

In the face of such a situation where the virtual fixture structure cannot be changed following the environment and the operator's intention, how to dynamically adjust the virtual fixture control based on the operator's intention has become an urgent problem to be solved

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