Force sense information master control system oriented to master-slave teleoperation and resolving method of force sense information master control system

Abstract

The invention discloses a master-slave teleoperation-oriented force sense information master control system and a resolving method thereof, which are applied to a master-slave teleoperation scene, the master-slave teleoperation scene comprises a master-end teleoperation system, a slave-end mechanical arm system and a communication module, and the master-end teleoperation system comprises a master-end hand controller and a master-end upper computer which are directly connected; the master end upper computer is further internally provided with a force sense information master control unit, and the force sense information master control unit obtains interaction force of the slave end mechanical arm and the external environment under the condition that a sensor is arranged at the tail end of the slave end mechanical arm or no sensor exists, and calculates the interaction force into the master end hand controller. A combined filter is provided to cope with force information interference factors, a user interface is further provided to feed back interaction force between a slave end mechanical arm and an external environment to a master end visual interface, master-slave end overall exchange and comprehensive control of force sense information are achieved, a visual reference is provided for a master end operator to make a decision, and a force sense immediacy sense can be established for master end hand controller equipment.

Description

Technical Field

[0001] This invention belongs to the technical field of space teleoperation control, and mainly relates to a force sensing information central control system for master-slave teleoperation and its calculation method. Background Technology

[0002] In recent years, my country's space program has developed rapidly. With the Chinese space station entering a stable operational phase, various extravehicular activity (EVA) missions have increased. However, EVA missions face challenges such as long preparation times, frequent operations, high workload, and wide operational scope, and involve certain safety risks. Therefore, master-slave teleoperation technology is needed to replace astronauts in performing EVA missions. A master-slave teleoperation scenario typically involves a master control system and a slave operating system. The master operator remotely controls the slave system to perform various operations using handheld devices. However, slave operations often require frequent interaction with the external environment, such as on-orbit assembly, on-orbit installation, and refueling. Visual estimation and position control alone cannot meet these requirements; therefore, the teleoperation scenario must be able to perceive the interaction between the slave system and the external environment.

[0003] Due to the high cost and maintenance difficulty of multi-dimensional force sensors, force information cannot be directly sampled if the slave device lacks a multi-dimensional force sensor or if the sensor malfunctions. For slave systems lacking direct force information sensing capabilities, if indirect force information can be calculated from the joint motor currents of the slave system, even without obtaining precise interactive forces, it can still provide decision-making references for the slave operator. If fed back to the hand controller, even without establishing a highly realistic tactile presence, it can reflect the main force direction of the slave system, helping to avoid catastrophic collisions and recover from various interactive anomalies. In addition to acquiring the interactive force sensation between the slave system and the external environment, it is also necessary to consider the relative posture relationship between the slave and master spaces, perform corresponding spatial transformation and filtering of the force information, and realize the overall exchange and integrated control of force information between the master and slave ends. This provides the master operator with more intuitive force information, offering a direct reference for decision-making and enabling the master hand controller to establish a sense of force presence. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by disclosing a force feedback information central control system and its calculation method for master-slave teleoperation. Applied to master-slave teleoperation scenarios, this system includes a master-end teleoperation system, a slave-end robotic arm system, and a communication module. The master-end teleoperation system comprises a directly connected master-end hand controller and a master-end host computer. The master-end host computer further includes a force feedback information central control unit, which includes a direct force feedback information calculation module, an indirect force feedback information calculation module, a force information filtering module, and force feedback information graphical monitoring and management system software. The direct force feedback information calculation module... The calculation module and the indirect force feedback information calculation module acquire the interaction force between the slave robotic arm and the external environment, respectively, when the slave robotic arm has a sensor at its end or no sensor, and calculate it to the master hand controller; the force information filtering processing module is used to provide a combined filter to deal with force information interference factors; the force information graphical monitoring and management system software is used to provide a user interface, feed back the interaction force between the slave robotic arm and the external environment to the master visual interface, realize the overall exchange and integrated control of force information between the master and slave ends, provide intuitive reference for the master operator's decision-making, and enable the master hand controller device to establish a sense of force presence.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a force sensing information control system for master-slave remote operation, applied to a master-slave remote operation scenario, wherein the master-slave remote operation scenario includes a master remote operating system, a slave robotic arm system, and a communication module;

[0006] The master-end teleoperation system includes a directly connected master-end hand controller and a master-end host computer;

[0007] The slave robotic arm system includes at least one slave robotic arm, which provides the robotic arm speed, pose, and current information of each joint through a force sensor installed at the end or the slave robotic arm itself; the slave robotic arm establishes real-time communication with the master host computer through a communication module;

[0008] The host computer also includes a force information control unit, which comprises a direct force feedback information calculation module, an indirect force feedback information calculation module, a force information filtering module, and force information graphical monitoring and management system software. The direct and indirect force feedback information calculation modules acquire the interaction force between the slave robotic arm and the external environment, respectively, depending on whether the slave robotic arm has a sensor or not, and calculate it to the host controller. The force information filtering module provides a combined filter to deal with force information interference factors. The force information graphical monitoring and management system software provides a user interface to feed back the interaction force between the slave robotic arm and the external environment to the host visual interface, realizing the overall exchange and integrated control of force information between the host and slave ends.

[0009] To achieve the above objectives, the present invention also adopts the following technical solution: a calculation method for a force sensing information central control system oriented towards master-slave teleoperation, comprising the following steps:

[0010] S1: Based on the kinematic models of the master end controller and the slave end robot, the expression of the end-effector posture of the master end controller in the controller's base coordinate system is obtained, also known as the master end spatial expression. The expression of the end-effector posture of the slave end robot in the robot arm's base coordinate system is obtained, also known as the slave end spatial expression.

[0011] S2: Based on the installation positions of the master end controller and the slave end robot arm, obtain the rotation matrix from the slave end robot arm coordinate system to the master end controller coordinate system;

[0012] S3: Establish communication between the master teleoperation system and the slave robotic arm system, check the transmission of force information, and check the exchange of other information such as joint position, speed, acceleration, and motor current;

[0013] S4: Acquire the raw force information generated by the interaction between the robotic arm end and the environment, process it through the direct force feedback information calculation module or the indirect force feedback information calculation module, output the calculation result of the force information in the end coordinate system of the slave end space, and convert it to the master end space;

[0014] S5: Based on the characteristics of the interference source in the specific teleoperation task, selectively enable the filtering function in the force information filtering processing module and adjust the parameters, input the force information calculated to the master space, and output the filtered force information;

[0015] S6: In the graphical monitoring and management system software for force information of the master end, the user interface for the above modules is provided. The filtered force information is printed to the visualization interface of the master end to form a real-time curve. The interaction force feedback between the slave end robotic arm and the external environment is fed back to the master end, providing an intuitive reference for the master end operator's decision-making and enabling the master end hand controller device to establish a sense of force presence.

[0016] As an improvement to the present invention, the methods for expressing the master-end space and the slave-end space in step S1 are as follows:

[0017] S11: For all links in each space The joint position defines the link coordinate system. ,in It is a space-based coordinate system, denoted as , It is the coordinate system at the end of space, denoted as ;

[0018] S12: According to the DH modeling method, four parameters are defined for the motion between each joint and adjacent connections: link length Linkage offset Joint angle and connecting angle Establish a transformation matrix between adjacent joints to describe adjacent coordinate systems. arrive Transformation relationship:

[0019]

[0020] Expanding further into matrix form, we obtain the block matrices for rotation and translation transformations:

[0021]

[0022] In the formula, Adjacent coordinate systems arrive The rotation matrix, It is a translation vector;

[0023] S13: Multiply the rotation matrices sequentially to obtain the rotation matrix of the spatial end coordinate system relative to the spatial base coordinate system:

[0024]

[0025] In the formula, Let be the rotation matrix of the spatial end coordinate system relative to the spatial base coordinate system. For ease of description, it will be referred to as in the following text. It is called a spatial rotation matrix;

[0026] S14: For the end coordinate system a vector Its base coordinate system The expression in the text is:

[0027] .

[0028] As an improvement of the present invention, in step S2, the rotation matrix from the end-effector base coordinate system to the master-effector base coordinate system is used to calculate the expression of the coordinate system from the end of the end-effector to the master-effector base coordinate system, and the specific expression is as follows:

[0029] Let the base coordinate system of the master space be denoted as The spatial rotation matrix is ;

[0030] Let the base coordinate system of the end space be denoted as The spatial rotation matrix is ;

[0031] According to the actual installation location arrive The rotation matrix is ​​denoted as ;

[0032] For the end-to-end coordinate system a vector , its in The expression in the text is:

[0033]

[0034] As another improvement of the present invention, in step S4, when the end effector of the robotic arm does not have the conditions for direct interactive force sensing, the indirect force feedback information calculation module is activated, and the calculation method of the indirect force feedback information calculation module is as follows:

[0035] S41: Based on motor current and motor torque constant Write down the output torque of the joint motor. The expression:

[0036]

[0037] S42: Decompose the motor output torque into dynamic torque. Friction torque and the external torque :

[0038]

[0039] S43: Establish a dynamic torque model based on the Lagrange form, and assume... The inertia matrix, The matrix represents the Coriolis force and the centripetal force. Given the gravity matrix, we obtain the expression for the dynamic torque:

[0040]

[0041] S44: Based on the low-speed nonlinear characteristics of the slave system, a friction torque model is established based on Stribeck's friction theory. For constant Coulomb friction vector, Let be the static friction coefficient. Let be the Stribeck velocity constant, representing the speed threshold at which friction decreases. This is a diagonal viscosity coefficient matrix. If we treat it as a sign function, then we obtain the expression for the friction torque:

[0042]

[0043] S45: Separate the external torque acting on the motor to obtain the expression for the interaction force between the slave system and the environment in joint space:

[0044]

[0045] S46: Through the robot's Jacobian matrix The interaction force between the end system and the external environment will be transferred from the joint space of the robotic arm to the end effector of the robotic arm:

[0046]

[0047] In the formula, Indicating disobedience, This represents the result of the indirect force feedback information calculation for the external force acting on the end effector of the robotic arm.

[0048] As another improvement of the present invention, in step S4, when the end effector of the robotic arm has the conditions for direct interactive force sensing, the direct force information calculation module is activated, and the calculation method of the direct force feedback information calculation module is as follows:

[0049] S41': Before commencing operations, calibration is performed, recording the principal dimension output data for each channel under standard load, while simultaneously recording the output data for all other channels. The output relationship function between channels is then established using least squares fitting methods. ;

[0050] S42': After the operation begins, the current direct force information is sampled through the end effector sensor of the robotic arm. Dimensions and number of sensor channels Consistent, in which elements It is a generalized expression of force and torque;

[0051] S43': Due to the existence of interdimensional coupling, the output of each channel of the sensor is related to the forces in all six dimensions, and can be regarded as... The superposition of the effects of each force:

[0052]

[0053] In the formula, yes The generalized force of dimensions; express Channel output; express Dimensional generalized force pair The relational function of the channel output;

[0054] S44': For Channel output, will A dimension is defined as its principal dimension, and the remaining dimensions are coupling dimensions. From the definition of inter-dimensional coupling, it can be seen that, apart from the output generated by the generalized force of the principal dimension, the coupling output generated by the generalized force of the remaining dimensions is the coupling error. for The inverse function of , from which the formula for calculating the coupled output can be obtained:

[0055]

[0056] S45': Remove the coupled output from the actual output to obtain the output with only the generalized force of the principal dimension superimposed:

[0057]

[0058] S46': Substitute the expressions from S43'-S44' into the expression in S45', and we get... The decoupling formula for dimensional force information:

[0059]

[0060] S47': Repeat step S46 until all The force information is decoupled, and the decoupled force information vector is the result of the direct force feedback information calculation, denoted as... .

[0061] As a further improvement of the present invention, the method for converting the force information calculation result to the master space in step S4 is as follows:

[0062] The solution results of indirect force feedback information or direct force feedback information Perform coordinate transformation to obtain the representation of force information in the master space. :

[0063] .

[0064] Compared with the prior art, the present invention has the following beneficial effects:

[0065] (1) Compared with the traditional teleoperation method that relies on multi-dimensional force sensors, this invention proposes a direct force feedback information calculation module and an indirect force feedback information calculation module for the two situations of having a sensor and not having a sensor, respectively. Even if the slave end cannot provide direct force feedback information, indirect force feedback information can be calculated through joint current, so as to respond to various interaction anomalies in a timely manner.

[0066] (2) This invention fully considers the dynamic low-speed nonlinear characteristics of the end system operation process. In the process of solving the indirect force feedback information, the dynamic torque and friction torque of the joint motor are modeled separately, and the exponential effect of joint speed on friction is clearly captured: at low speed, it is close to static friction. As the speed increases, the friction exponent decays to the Coulomb level.

[0067] (3) When the conditions for direct force feedback information perception are met, the present invention fully considers the interdimensional coupling error that is common in multidimensional force sensors. Before converting the force information to the master space, the force information of each dimension of the sensor is decoupled. Compared with directly converting the force information, the present invention can more effectively reflect the interaction of the slave end.

[0068] (4) This invention realizes the overall exchange and integrated control of force information between the master and slave ends, reasonably coordinates the force feedback information calculation, master-slave space conversion and force information filtering and other force information processing functions, and prints the force information processing results to the master end visualization interface to form a real-time curve, which can provide intuitive reference for the master end operator's decision-making. Attached Figure Description

[0069] Figure 1 This is a structural block diagram of a force sensing information central control system for master-slave teleoperation according to the present invention;

[0070] Figure 2 This is a schematic diagram of the information flow of the force information control unit in Embodiment 2 of the present invention;

[0071] Figure 3 This is a schematic diagram of the abnormal processing of direct force information sampling in Embodiment 3 of the present invention;

[0072] Figure 4 This is a schematic diagram of the indirect force feedback information calculation process in Embodiment 3 of the present invention;

[0073] Figure 5 This is a timing diagram of the force information data stream in Embodiment 3 of the present invention. Detailed Implementation

[0074] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0075] Example 1

[0076] A force-sensing information central control system for master-slave teleoperation, such as Figure 1 As shown, it is applied to master-slave teleoperation scenarios and includes at least a force sensing information central control unit;

[0077] The master-slave teleoperation scenario is the hardware foundation for the system to realize its various functions, and includes at least the master teleoperation system, the slave robotic arm system and the communication module.

[0078] The master-end remote operating system includes at least one master-end hand controller and one master-end host computer. The master-end hand controller is directly connected to the master-end host computer and can be selected as Force Dimension Sigma.7 with force feedback function. The host computer should have the hardware driver for the selected hand controller.

[0079] The slave robotic arm system includes at least one slave robotic arm, which can be a general-purpose robotic arm such as JAKA or UR. A force sensor is installed at the end of the slave robotic arm. If no force sensor is installed, the slave robotic arm should be able to provide its own speed, pose and current information of each joint in real time, which can usually be read through the robotic arm drive interface.

[0080] The communication module establishes real-time communication between the slave robotic arm and the master host computer. A router can be selected to connect the slave robotic arm and the master host computer wirelessly, and transmit slave interactive data and master control commands bidirectionally.

[0081] The force information control unit is the main body of the system and is deployed in the host computer. It includes a direct force feedback information calculation module, an indirect force feedback information calculation module, a force information filtering and processing module, and force information graphical monitoring and management system software. It also includes integration and communication functions between the various control modules.

[0082] In addition to having the hardware drivers for the selected controllers, the host computer should also have a Unity or Qt environment to support the graphical interface of the force information control unit.

[0083] When using the system of this embodiment, the master teleoperation system requires at least one operator. The operator controls the hand controller to perform motion control on the slave robotic arm. At the same time, the operator observes the real-time force information through the force information graphical monitoring and management system software interface of the force information master control unit. When the hand controller has a force feedback function, the operator simultaneously senses the slave force feedback reproduced by the hand controller and adjusts the parameters of each module and the motion control strategy as needed.

[0084] This example system provides the minimum hardware scenario and hardware selection suggestions to support the work of this invention. As needed, a master hand controller and a slave robotic arm can be added, and the input channel of the force information control unit can be added to expand the system into a multi-arm teleoperation scenario.

[0085] Example 2

[0086] A solution method for a force sensing information central control system oriented towards master-slave teleoperation, applicable to the system described in Example 1, specifically includes the following steps:

[0087] Step S1: For the selected master-end controller and slave-end robotic arm, import the model into mechanical design software such as SolidWorks, check the link definitions and joint coordinate axis definitions, and establish kinematic models according to the DH modeling method to obtain the master-end spatial representation and slave-end spatial representation. The specific method is as follows:

[0088] S11: For all links in each space The joint position defines the link coordinate system. ,in It is a space-based coordinate system, denoted as , It is the coordinate system at the end of space, denoted as ;

[0089] S12: According to the DH modeling method, four parameters are defined for the motion between each joint and adjacent connections: link length Linkage offset Joint angle and connecting angle Establish a transformation matrix between adjacent joints to describe adjacent coordinate systems. arrive Transformation relationship:

[0090]

[0091] Expanding further into matrix form, we obtain the block matrices for rotation and translation transformations:

[0092]

[0093] In the formula, Adjacent coordinate systems arrive The rotation matrix, It is a translation vector;

[0094] S13: Multiply the rotation matrices sequentially to obtain the rotation matrix of the spatial end coordinate system relative to the spatial base coordinate system:

[0095]

[0096] In the formula, Let be the rotation matrix of the spatial end coordinate system relative to the spatial base coordinate system. For ease of description, it will be referred to as in the following text. It is called a spatial rotation matrix;

[0097] S14: For the end coordinate system a vector Its base coordinate system The expression in the text is:

[0098]

[0099] The above spatial representation applies to both master-end space and slave-end space.

[0100] Step S2: The master-end controller and the slave-end robot arm are usually mounted on a plane. If they are mounted on a non-plane or there is a relative yaw angle between the master and slave base coordinate systems, the three-dimensional tilt angle of the robot arm base coordinate system is measured with the controller base coordinate system as the reference. The rotation matrix from the slave-end robot arm base coordinate system to the master-end controller base coordinate system is calculated according to the Rodrigues rotation formula. This matrix is ​​used to calculate the expression from the end of the slave-end robot arm to the master-end controller base coordinate system. The specific expression is as follows:

[0101] Let the base coordinate system of the master space be denoted as The spatial rotation matrix is ;

[0102] Let the base coordinate system of the end space be denoted as The spatial rotation matrix is ;

[0103] Based on the actual installation location arrive The rotation matrix is ​​denoted as ;

[0104] For the end-to-end coordinate system a vector , its in The expression in the text is:

[0105] .

[0106] Step S3: Establish communication between the master remote operating system and the slave robotic arm system through a router or other communication module, and check the data transmission status;

[0107] In practical implementation, depending on whether sensors are installed on the robotic arm, the data should be checked accordingly:

[0108] Scenario 1: The robotic arm is equipped with a multi-dimensional force sensor, which provides direct force information sampling conditions. Check the joint position, velocity, and acceleration, and check whether the sampled multi-dimensional force data readings meet expectations. If the readings are abnormal, you can continue the operation as described in Scenario 2 below.

[0109] Scenario 2: The slave robotic arm is not equipped with a multi-dimensional force sensor. Check the exchange of other information such as joint position, speed, acceleration, and motor current.

[0110] Step S4: The communication module inputs the force perception information from the slave end and other information into the force perception information central control unit, such as... Figure 2As shown, if condition 1 described in step S3 is met, the raw force feedback information generated by the interaction between the robotic arm end effector and the environment is obtained and processed by the input force feedback information calculation module; otherwise, it is processed by the input indirect force feedback information calculation module, and the calculation result of the force feedback information in the end effector coordinate system of the slave end space is output and converted to the master end space; the calculation method of the direct force feedback information calculation module is as follows:

[0111] S41': Before commencing operations, calibration is performed, recording the principal dimension output data for each channel under standard load, while simultaneously recording the output data for all other channels. The output relationship function between channels is then established using least squares fitting methods. ;

[0112] S42': After the operation begins, the current direct force information is sampled through the end effector sensor of the robotic arm. Dimensions and number of sensor channels Consistent, in which elements It is a generalized expression of force and torque;

[0113] S43': Due to the existence of interdimensional coupling, the output of each channel of the sensor is related to the forces in all six dimensions, and can be regarded as... The superposition of the effects of each force:

[0114]

[0115] In the formula, yes The generalized force of dimensions; express Channel output; express Dimensional generalized force pair The relational function of the channel output;

[0116] S44': For Channel output, will A dimension is defined as its principal dimension, and the remaining dimensions are coupling dimensions. From the definition of inter-dimensional coupling, it can be seen that, apart from the output generated by the generalized force of the principal dimension, the coupling output generated by the generalized force of the remaining dimensions is the coupling error. for The inverse function of , from which the formula for calculating the coupled output can be obtained:

[0117]

[0118] S45': Remove the coupled output from the actual output to obtain the output with only the generalized force of the principal dimension superimposed:

[0119]

[0120] S46': Substitute the expressions from S43'-S44' into the expression in S45', and we get... The decoupling formula for dimensional force information:

[0121]

[0122] S47': Repeat step S46 until all The force information is decoupled, and the decoupled force information vector is the result of the direct force feedback information calculation, denoted as... .

[0123] Step S5: Based on the characteristics of the interference source of the specific teleoperation task, selectively enable the filtering function in the force information filtering processing module and adjust the parameters, input the force information calculated to the master space, and output the filtered force information;

[0124] Step S6: In the user interface provided by the graphical monitoring and management system software for the above modules, the filtered force information is printed to the visualization interface of the master end to form a real-time curve graph. The interaction force between the slave robotic arm and the external environment is fed back to the master end, providing an intuitive reference for the master end operator's decision-making and enabling the master end hand controller device to establish a sense of force presence.

[0125] Example 3

[0126] This embodiment is a typical use case of sudden direct force information sampling anomaly in the system of the present invention, and a solution method for a force information master-slave teleoperation system, applicable to the system described in Embodiment 1;

[0127] Direct force sensing information sampling anomaly refers to a situation where the end-effector robotic arm system originally had sensors, but the sensors failed to take samples due to abnormal events such as collisions or detachment.

[0128] The system suddenly experiences an anomaly in the sampling of direct force information, such as Figure 3 As shown, the interaction force between the end-effector system and the external environment cannot be sampled by the multi-dimensional force sensor, and the direct force information F is obstructed. If the teleoperation task cannot be stopped immediately, the indirect force feedback information calculation process can be initiated, such as... Figure 4 As shown, the solution method of the indirect force feedback information solution module is as follows:

[0129] S41: Based on motor current and motor torque constant Write down the output torque of the joint motor. The expression:

[0130]

[0131] S42: Decompose the motor output torque into dynamic torque. Friction torque and the external torque :

[0132]

[0133] S43: Establish a dynamic torque model based on the Lagrange form, and assume... The inertia matrix, The matrix represents the Coriolis force and the centripetal force. Given the gravity matrix, we obtain the expression for the dynamic torque:

[0134]

[0135] S44: Based on the low-speed nonlinear characteristics of the slave system, a friction torque model is established based on Stribeck's friction theory, assuming... For constant Coulomb friction vector, Let be the static friction coefficient. Let be the Stribeck velocity constant, representing the speed threshold at which friction decreases. This is a diagonal viscosity coefficient matrix. If we treat it as a sign function, then we obtain the expression for the friction torque:

[0136]

[0137] S45: Separate the external torque acting on the motor to obtain the expression for the interaction force between the slave system and the environment in joint space:

[0138]

[0139] S46: Through the robot's Jacobian matrix The interaction force between the end system and the external environment will be transferred from the joint space of the robotic arm to the end effector of the robotic arm:

[0140]

[0141] In the formula, Indicating disobedience, The result of the indirect force feedback information calculation represents the external force acting on the end effector of the robotic arm.

[0142] As an extension of this invention, if the force feedback calculation result is fed back to the hand controller, the timing of the force information data stream is as follows: Figure 5 As shown, even if a relatively realistic sense of tactile presence cannot be established, it can still reflect the main force direction of the slave system, which helps to avoid catastrophic collisions and recover from various interaction anomalies.

[0143] In summary, this invention discloses a force feedback information control system and its calculation method for master-slave teleoperation. For both sensor-equipped and sensorless scenarios at the end of the slave robotic arm, direct and indirect force feedback information calculation modules are designed respectively. The direct force feedback information calculation module fully considers the inter-dimensional coupling error commonly found in multi-dimensional force sensors. Compared to directly converting force information, this invention can more effectively reflect the slave interaction situation. The indirect force feedback information calculation module reduces system hardware requirements and enhances the system's ability to handle sudden anomalies. This invention realizes the overall exchange and integrated control of force information between the master and slave ends. The calculated force information can be visualized in real time, providing an intuitive reference for the master operator's decision-making and enabling the master hand controller to establish a sense of force presence. This invention can effectively improve the control efficiency of teleoperation, increase system fault tolerance while reducing system hardware requirements, help reduce the overall implementation difficulty of teleoperation tasks, and support the realization of complex slave interaction tasks.

[0144] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0145] It should be noted that the above content merely illustrates the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. For those skilled in the art, various improvements and modifications can be made without departing from the principle of the present invention, and all such improvements and modifications fall within the scope of protection of the claims of the present invention.

Claims

1. A force sensing information central control system for master-slave teleoperation, characterized in that: It is applied to master-slave teleoperation scenarios, which include a master teleoperation system, a slave robotic arm system, and a communication module. The master-end teleoperation system includes a directly connected master-end hand controller and a master-end host computer; The slave robotic arm system includes at least one slave robotic arm, which provides the robotic arm speed, pose, and current information of each joint through a force sensor installed at the end or the slave robotic arm itself; the slave robotic arm establishes real-time communication with the master host computer through a communication module; The host computer also includes a force information control unit, which comprises a direct force feedback information calculation module, an indirect force feedback information calculation module, a force information filtering module, and force information graphical monitoring and management system software. The direct and indirect force feedback information calculation modules acquire the interaction force between the slave robotic arm and the external environment, respectively, depending on whether the slave robotic arm has a sensor or not, and calculate it to the host controller. The force information filtering module provides a combined filter to deal with force information interference factors. The force information graphical monitoring and management system software provides a user interface to feed back the interaction force between the slave robotic arm and the external environment to the host visual interface, realizing the overall exchange and integrated control of force information between the host and slave ends.

2. The solution method for a master-slave teleoperation-oriented force information central control system using the system described in claim 1, characterized in that, Includes the following steps: S1: Based on the kinematic models of the master end controller and the slave end robot, the master end spatial expression and the slave end spatial expression are obtained; the master end spatial expression is the expression of the end-effector posture of the master end controller in the hand controller's coordinate system; the slave end spatial expression is the expression of the end-effector posture of the slave end robot in the robot arm's coordinate system. S2: Based on the installation positions of the master end controller and the slave end robot arm, obtain the rotation matrix from the slave end robot arm coordinate system to the master end controller coordinate system; S3: Establish communication between the master teleoperation system and the slave robotic arm system, and check the transmission information of force sensing information; the transmission information of force sensing information includes at least the exchange of information on joint position, velocity, acceleration and motor current; S4: Acquire the raw force information generated by the interaction between the robotic arm end and the environment, process it through the direct force feedback information calculation module or the indirect force feedback information calculation module, output the calculation result of the force information in the end coordinate system of the slave end space, and convert it to the master end controller; S5: Enable the filtering function in the force information filtering processing module and adjust the parameters. Input the force information calculated to the master hand controller and output the filtered force information. S6: Through the master-end force information graphical monitoring and management system software, the filtered force information is printed to the master-end visualization interface to form a real-time curve graph, and the interaction force between the slave robotic arm and the external environment is fed back to the master end, realizing the overall exchange and integrated control of force information between the master and slave ends.

3. The calculation method for a force sensing information central control system oriented towards master-slave teleoperation as described in claim 2, characterized in that: In step S1, the methods for master-end space representation and slave-end space representation are as follows: S11: For all links in each space The joint position defines the link coordinate system. ,in It is a space-based coordinate system, denoted as , It is the coordinate system at the end of space, denoted as ; S12: According to the DH modeling method, four parameters are defined for the motion between each joint and adjacent connections: link length Linkage offset Joint angle and connecting angle Establish a transformation matrix between adjacent joints to describe adjacent coordinate systems. arrive Transformation relationship: ； Expanding into matrix form, we obtain the block matrices for rotation and translation transformations: ； In the formula, Adjacent coordinate systems arrive The rotation matrix, It is a translation vector; S13: Multiply the rotation matrices sequentially to obtain the rotation matrix of the spatial end coordinate system relative to the spatial base coordinate system: ； In the formula, This is the rotation matrix of the spatial end coordinate system relative to the spatial base coordinate system; S14: For the end coordinate system a vector Its base coordinate system The expression in is: 。 4. The calculation method for a force sensing information central control system oriented towards master-slave teleoperation as described in claim 2, characterized in that: In step S2, the rotation matrix from the slave end robotic arm base coordinate system to the master end controller base coordinate system includes the following for the slave end coordinate system. a vector Its base coordinate system in the main space The expression in is: ； in, For the base coordinate system of the end space Base system to the main space rotation matrix; Let be the spatial rotation matrix in the base coordinate system of the slave space.

5. The calculation method for a force sensing information central control system oriented towards master-slave teleoperation as described in claim 4, characterized in that: In step S4, when there is no sensor at the end of the robotic arm, the indirect force feedback information calculation module is activated. The calculation method of the indirect force feedback information calculation module is as follows: S41: Based on motor current and motor torque constant Calculate the output torque of the joint motor The expression: ； S42: Decompose the motor output torque into dynamic torque. Friction torque and the external torque : ； S43: Establish a dynamic torque model based on the Lagrange form, and assume... The inertia matrix, The matrix represents the Coriolis force and the centripetal force. Given the gravity matrix, we obtain the expression for the dynamic torque: ； S44: Establish a friction torque model based on Stribeck's friction theory, assuming... For constant Coulomb friction vector, The static friction coefficient is Stribeck's velocity constant, This is a diagonal viscosity coefficient matrix. Assuming the sign function is used, the expression for friction torque is obtained: ； S45: Separate the external torque acting on the motor to obtain the expression for the interaction force between the slave system and the environment in joint space: ； ; S46: Through the robot's Jacobian matrix The interaction force between the end system and the external environment will be transferred from the joint space of the robotic arm to the end effector of the robotic arm: ; In the formula, Indicates a false reversal. This represents the result of the indirect force feedback information calculation for the external force acting on the end effector of the robotic arm.

6. The calculation method for a force sensing information central control system oriented towards master-slave teleoperation as described in claim 4, characterized in that: In step S4, when a sensor is installed at the end of the robotic arm, the direct force information calculation module is activated. The calculation method of the direct force feedback information calculation module is as follows: S41': Preliminary calibration: Record the principal dimension output data of each channel under the standard load, and simultaneously record the output data of all other channels. Establish the output relationship function between channels using least squares fitting methods. ; S42': Sample the current direct force information using the end effector sensor of the robotic arm. Dimensions and number of sensor channels Consistent, in which elements It is a generalized expression of force and torque; S43': Calculate the output of each channel of the sensor: ; In the formula, yes The generalized force of dimensions; express Channel output; express Dimensional generalized force pair The relational function of the channel output; S44': For Channel output, will The dimension is defined as its principal dimension, and the other dimensions are coupling dimensions. The coupling output generated by the generalized force in the other dimensions is the coupling error. for The inverse function yields the coupled output calculation formula as follows: ; S45': Remove the coupled output from the actual output to obtain the output with only the generalized force of the principal dimension superimposed: ; S46': Substitute the expressions from steps S43'-S44' into the expression from step S45, and obtain... The decoupling formula for dimensional force information: ; S47': Repeat step S46' until all The force information is decoupled, and the decoupled force information vector is the result of the direct force feedback information calculation. .

7. The calculation method for a force sensing information central control system oriented towards master-slave teleoperation as described in claim 5 or 6, characterized in that: In step S4, the method for converting the force information calculation result to the master space specifically involves: converting the feedback information calculation result... Perform coordinate transformation to obtain the representation of force information in the master space. : 。

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