Master-slave bidirectional control method and system for redundant degree-of-freedom teleoperation robot

Abstract

The invention provides a master-slave bidirectional control method and system for a redundant degree-of-freedom teleoperation robot, and the control method comprises the following steps: an operator operates a master manipulator, master manipulator power detected by a three-dimensional force sensor passes through an A / D converter and an amplification circuit, and then controls a slave manipulator to move through a slave controller; and after inverse kinematics calculation, the displacement of the master-end manipulator and the displacement of the slave-end manipulator are subtracted to form a potential difference signal, after normalization processing, feedback gain Kef is obtained through a T-S fuzzy reasoning process, and then feedback force is generated. By means of the control method and system, when the master potential difference signal and the slave potential difference signal are large, the T-S feedback gain Kef is small, the feedback force of the master end mechanical arm is reduced, and the impact force is relieved; when the master potential difference signal and the slave potential difference signal are small, the T-S feedback gain Kef is large, the feedback force of the master end manipulator is increased, and the feedback sensitivity is improved; the T-S feedback gain Kef is continuously changed in a segmented manner, and the feedback force does not change suddenly, so that the feedback sensitivity can be improved, and the immediacy of an operator is enhanced.

Description

technical field [0001] The invention relates to the technical field of teleoperation robots, in particular to a master-slave bidirectional control method and system for a redundant degree of freedom teleoperation robot. Background technique [0002] With the application of robots in nuclear reactors, deep sea exploration, space development, remote / micro-manipulation, telemedicine, and various fields of human life, there is an urgent need for a large number of advanced robots that work in environments that are inaccessible to humans or harmful to humans. came into being. [0003] Two-way servo control is the interactive feedback control of information between the master hand and the slave hand. Most of the existing control systems use the master hand to move first, the slave hand to follow the displacement of the master hand to move, and the force received by the slave hand is fed back to the master hand, but the slave hand moves. When the hand touches a rigid object, it wil...

AI Technical Summary

Problems solved by technology

[0003] Two-way servo control is the interactive feedback control of information between the master hand and the slave hand. Most of the existing control systems use the master hand to move first, and the slave hand follows the displacement of the master hand to move, and the force received by the slave hand is fed back to the master hand. When the hand touches a rigid object, it will suddenly generate a large feedback force, which will cause impact and vibration to the main hand, and the operation sense of presence is poor.

[0004] "A two-degree-of-freedom position feedback type two-way servo hand controller control system" disclosed in Chinese patent CN200820072288.3, ​​this control system uses position difference to generate feedback force, which reduces the impact and vibration on the main hand, but, The feedback force of this control strategy adopts a fixed gain. When the feedback force is large, it will make the main hand operation more laborious. When the feedback force is small, the operator will not feel the feedback force, which reduces the sense of presence and operation accuracy.

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