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A robot teleoperation control method based on mixed reality

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

Active Publication Date: 2022-07-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • A robot teleoperation control method based on mixed reality
  • A robot teleoperation control method based on mixed reality
  • A robot teleoperation control method based on mixed reality

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Experimental program
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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 a mixed reality teleoperation system. First, 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 interactions. 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 helpful for the smooth movement of the robot; A fuzzy logic-based control algorithm adjusts the robot's position, velocity, and force, and updates its workspace to deal with potential operational failures and improve the robot's m...

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Abstract

The invention discloses a robot teleoperation control method based on mixed reality, and proposes two operation modes, a coarse operation mode (CMM) and a fine operation mode (FMM), the combination of the two operation modes is helpful for the smooth movement of the robot; On the basis of the two operation modes, a fuzzy logic-based control algorithm is proposed to adjust the position, speed and force of the robot, and update its working space to deal with potential operation failures and improve the maneuverability of the robot. Finally, a control algorithm is proposed. A barrier Lyapunov function (BLF) is used to solve the problem of limited system state, and the corresponding robot control rate is designed to ensure the stability of the mixed reality-based teleoperating system. The present invention can provide a better sense of presence, and has the potential to improve the operational performance of the robot in various aspects.

Description

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

Claims

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Application Information

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Patent Type & Authority Patents(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