Robot teleoperation control method based on mixed reality

A remote operation control and mixed reality technology, applied in the field of robots, can solve problems such as operation errors and poor operability, achieve a good sense of presence and improve the operation performance of robots

Active Publication Date: 2021-06-22
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the teleoperation system based on virtual reality does not have any tactile feedback or physical structure, and its operability is poor, especially in some scenarios that require fine teleoperation, there will be operational errors

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  • Robot teleoperation control method based on mixed reality
  • Robot teleoperation control method based on mixed reality
  • Robot teleoperation control method based on mixed reality

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Embodiment Construction

[0069] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0070] The purpose of this patent is to propose a new teleoperation control method based on the mixed reality teleoperation system. Firstly, a new mixed reality interface is designed to provide highly immersive virtual visual feedback to improve the sense of presence of the system; inside the mixed reality interface, an interactive agent is designed to realize the operation of the remote robot, allowing richer and more Natural human-environment interaction. In terms of control methods: two operation modes are proposed, namely, coarse operation mode (CMM) and fine operation mode (FMM). The combination of the two operation modes is conducive to the smooth movement of the robot; A control algorithm based on fuzzy logic to adjust the position, velocity and force of the robot and update its workspace to deal with potential operational failures and improve t...

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Abstract

The invention discloses a robot teleoperation control method based on mixed reality. The robot teleoperation control method based on mixed reality provides two operation modes, namely a coarse operation mode (CMM) and a fine operation mode (FMM), and the combination of the two operation modes is beneficial to the stable movement of a robot; on the basis of the two operation modes, a control algorithm based on fuzzy logic is provided to adjust the position, the speed and the force of the robot and update the working space of the robot so as to process potential operation faults and improve the maneuverability of the robot; and finally, a barrier Lyapunov function (BLF) is provided to solve the problem that the system state is limited, and a robot control rate corresponding to the barrier Lyapunov function is designed to ensure the stability of the teleoperation system based on mixed reality. The method can provide better immediacy, and has the potential of improving the operation performance of the robot in multiple aspects.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a remote operation control method for a robot. Background technique [0002] Teleoperation technology is a way to help humans realize the remote extension of perception and behavior through information technology to meet the needs of synchronous interaction between humans and robots under the constraints of long-distance spans. At present, it has been widely used in deep space, deep sea exploration, nuclear waste disposal and remote surgery and other fields. In practical teleoperation systems, even with ideal position and force tracking, it is difficult for telesystems to perform remote tasks without considering the environment and the visualization of the robot. In some less complex situations, static cameras and surveillance devices are used to provide mono-visual feedback. Due to the lack of stereo vision and parallax effects, this method severely limits human perc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 黄攀峰李陇南马志强常海涛张夷斋刘正雄
Owner NORTHWESTERN POLYTECHNICAL UNIV
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