Smooth behavior planning control method for bilateral teleoperation terminal based on fuzzy strategy
A technology of planning control and teleoperation, which is applied in the field of teleoperation human-computer interaction, can solve problems such as unsmooth contact process, unstable operation behavior, and over-limit interaction force at the end, so as to enhance process stability, easy digital realization, and improve The effect of smoothness
Active Publication Date: 2022-03-15
NORTHWESTERN POLYTECHNICAL UNIV
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Correspondingly, when the remote robot end interacts with the environment, it needs to rely on the impedance control mode, because it fully complies with the speed and position requirements provided by the local end, and it is easy to cause the end interaction force to exceed the limit, resulting in mechanical damage.
Impedance and admittance control modes can deal with the free space movement and environmental contact interaction of bilateral teleoperation respectively, but the problem of switching point selection in the contact process has not been properly solved, resulting in unstable operation behavior, unsmooth contact process, and even system failure. unstable
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[0040] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:
[0041] The purpose of the present invention is to solve the transition smooth problem between the admittance control mode and the impedance control mode in the remote operation process, taking into account the local operator's control experience, behavioral efficiency and remote execution robot ability. The smooth force-position control problem provides a solution.
[0042] In order to achieve the above object, the technical solution adopted in the present invention comprises the following steps:
[0043] Step 1: Design fast and stable admittance and impedance mode parameter structures respectively
[0044] The robot teleoperation system composed of n-degree-of-freedom articulated manipulator can be described by the following dynamic equation:
[0045]
[0046] in with are the three-dimensional displacements of the end of the local and remote robot actua...
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The invention relates to a fuzzy strategy-based bilateral teleoperation terminal smooth behavior planning control method, which is based on fuzzy strategy fusion force and position information to adjust the closed-loop controlled structure of robot teleoperation. With the support of perceptual information, the controller adjusts the fuzzy sharing factor of the admittance and impedance modes to improve the smoothness of the switching process between the two modes. The design of the controller is simple, and the fuzzy logic is easy to realize digitally. Compared with the prior art, the present invention has the following beneficial effects: by adjusting the admittance and impedance control through the fuzzy strategy, the process stability of the robot teleoperation from free space movement to interaction with the environment is enhanced; There will be no vibration caused by switching discontinuity during the stabilization process.
Description
technical field [0001] The invention belongs to the field of teleoperation human-computer interaction, and relates to a fuzzy strategy-based smooth behavior planning control method for bilateral teleoperation terminals. Background technique [0002] Teleoperation is a technology that uses communication means to enhance the control ability of remote robots after digitizing the control behavior of local operators. The local and remote robots of the bilateral teleoperation system are usually isomorphic. When the remote robot is running in free space, the local operator uses the compliant control technology to adjust the end of the local robot, and the remote robot is based on the speed and position information transmitted by the local end. Replicating the native robot behavior, this manipulation behavior is called admittance control mode. Correspondingly, when the remote robot end interacts with the environment, it needs to rely on the impedance control mode, because it fully ...
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IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 马志强黄攀峰刘正雄刘星张夷斋
Owner NORTHWESTERN POLYTECHNICAL UNIV