Bilateral Force Feedback Method, Device, Equipment and Medium

Abstract

The present application discloses a bilateral force feedback method, device, equipment and medium. The method is applied to a system controller, and the system controller has communication connections with both a first operation platform and a second operation platform of a bilateral teleoperation system. The method includes: collecting first information, where the first information includes at least one of the motion information and torque information of the second operation platform, and at least one of the motion information and torque information controlled by the first operation platform itself; generating a first control signal based on the first information; and controlling the first operation platform to execute a motion corresponding to the first information according to the first control signal. By collecting at least one of the motion information and torque information of the second operation platform, and at least one of the motion information and torque information controlled by the first operation platform itself, the control parameters of the first control signal are made more accurate, ensuring that the actual control motion of the system controller for the first operation platform can be the same as the desired control motion.

Description

Technical Field

[0001] This application relates to the technical field of teleoperation, and particularly to a bilateral force feedback method, device, equipment and medium. Background Art

[0002] With the development of technology, bilateral teleoperation systems are widely used in industry and daily life to replace humans in dealing with certain events that are either complex, dangerous, or inconvenient.

[0003] Bilateral teleoperation systems usually adopt a system control architecture based on two channels. In the system control architecture based on two channels, controllers need to be respectively set in the master operation platform and the slave operation platform, and the information interaction between the master operation platform and the slave operation platform is realized through the transmission of control signals between at least two controllers. Specifically, the first controller of the master operation platform sends the first motion information and / or torque information of the master operation platform to the second controller of the slave operation platform; the slave operation platform moves in response to the first motion information and / or torque information, and at the same time, the second controller of the slave operation platform feeds back the second motion information and / or torque information between the slave operation platform and the external environment to the first controller of the master operation platform.

[0004] Since the relationship between motion information and torque information is relatively complex, in practical applications, the motion information and torque information in the control signal are usually equivalent to a simple impedance relationship. Taking the master operation platform sending the first motion information and / or torque information to the slave operation platform as an example, the control parameters in the control signal received by the second controller of the slave operation platform are only the parameter information of the expected position increment information or the expected driving torque information of the slave operation platform after simple conversion, making the parameter information inaccurate, resulting in a large difference between the actual motion of the slave operation platform and the expected motion of the master operation platform. Correspondingly, the difference between the actual feedback motion of the master operation platform and the expected feedback motion of the slave operation platform is also large. Summary of the Invention

[0005] Embodiments of this application provide a bilateral force feedback method, device, equipment and medium, so that the actual control motion of the system controller for the first operation platform is the same as the expected control motion. The technical solution is as follows:

[0006] According to one aspect of this application, a bilateral force feedback method is provided, which is applied to a system controller. The system controller has communication connections with both the first operation platform and the second operation platform of the bilateral teleoperation system. The method includes:

[0007] Collect first information, where the first information includes at least one of the motion information and torque information of the second operation platform, and at least one of the motion information and torque information controlled by the first operation platform itself;

[0008] Generate a first control signal based on the first information;

[0009] Control the first operating platform to perform a motion corresponding to the first information according to the first control signal.

[0010] According to one aspect of the present application, a bilateral force feedback device is provided. The device has a communication connection with both the first operating platform and the second operating platform of the bilateral teleoperation system. The device includes:

[0011] An acquisition module for acquiring the first information, where the first information includes at least one of the motion information and torque information of the second operating platform, and at least one of the motion information and torque information controlled by the first operating platform itself;

[0012] A generation module for generating a first control signal based on the first information;

[0013] A control module for controlling the first operating platform to perform a motion corresponding to the first information according to the first control signal.

[0014] According to one aspect of the present application, a computer device is provided. The computer device includes a processor and a memory. At least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the bilateral force feedback method as described above.

[0015] According to one aspect of the present application, a computer-readable storage medium is provided. An executable instruction is stored in the computer-readable storage medium, and the executable instruction is loaded and executed by the processor to implement the bilateral force feedback method as described above.

[0016] The beneficial effects brought by the technical solution provided by the embodiments of the present application at least include:

[0017] By acquiring at least one of the motion information and torque information of the second operating platform, and at least one of the motion information and torque information controlled by the first operating platform itself, the control parameters of the first control signal are made more accurate, ensuring that the actual control motion of the system controller for the first operating platform can be the same as the desired control motion, thereby making the control of the bilateral teleoperation system more convenient and intuitive. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a schematic diagram of the application scenario of the bilateral force feedback method provided by an exemplary embodiment of the present application;

[0020] Figure 2 It is a schematic diagram of the application scenario of the bilateral force feedback method provided by an exemplary embodiment of the present application;

[0021] Figure 3 It is a flowchart of the bilateral force feedback method provided by an exemplary embodiment of the present application;

[0022] Figure 4 It is an operation schematic diagram of the bilateral force feedback method provided by an exemplary embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of the principle of the admittance controller provided by an exemplary embodiment of the present application;

[0024] Figure 6 It is a schematic diagram of the principle of the impedance controller provided by an exemplary embodiment of the present application;

[0025] Figure 7 It is a flowchart of the bilateral force feedback method provided by an exemplary embodiment of the present application;

[0026] Figure 8 It is a flowchart of the bilateral force feedback method provided by an exemplary embodiment of the present application;

[0027] Figure 9 It is a framework diagram of the system control architecture provided by an exemplary embodiment of the present application;

[0028] Figure 10 It is a schematic diagram of various application scenarios of the bilateral force feedback method provided by an exemplary embodiment of the present application;

[0029] Figure 11 It is a structural diagram of the bilateral force feedback device provided by an exemplary embodiment of the present application. Detailed implementation manners

[0030] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0031] Figure 1 and Figure 2 show a schematic diagram of the application scenario of the bilateral teleoperation system provided by an exemplary embodiment of the present application. As Figure 1 and Figure 2 shown, this application scenario includes a first operation platform 101, a second operation platform 102, and a system controller 103.

[0032] Among them, data interaction can be achieved between the first operating platform 101 and the second operating platform 102 through the system controller 103. Taking the first operating platform 101 as the master operating platform and the second operating platform 102 as the slave operating platform as an example:

[0033] The master operating platform 101 is the control platform of the bilateral teleoperation system and is usually controlled by an operator. Following the gestures, movements of the operator or the control of the auxiliary device, the master operating platform 101 can perform the same movements. At the same time, the master operating platform 101 can obtain relevant information about the movement. Schematically, the relevant information about the movement includes at least one of movement information and torque information. Schematically, the master operating platform 101 includes at least one of a robotic arm and a robot hand control component, and the operator controls the master operating platform 101 by operating the robotic arm or the robot hand control component.

[0034] There are various implementation methods for the master operating platform 101 to obtain relevant information about the movement. Schematically, a torque sensor, a tactile sensor, a multi-finger force feedback component, etc. are set on the master operating platform 101, and through these auxiliary devices, relevant information about the movement of the master operating platform 101 itself and the movement of the operator can be obtained. At the same time, the master operating platform 101 can also transmit the feedback movement of the slave operating platform 102 to the operator. For example, the information fed back by the slave operating platform 102 to the master operating platform 101 includes that the robotic arm moves 0.5 meters to the right, and the robotic arm of the master operating platform 101 will drive the robotic arm of the operator to move 0.5 meters to the right.

[0035] The slave operating platform 102 is the controlled platform of the bilateral teleoperation system and performs corresponding movements in response to the movements of the master operating platform 101. Schematically, the slave operating platform 102 includes at least one of a robotic arm and a robot hand, and the system controller 103 can control the movement of the robotic arm and / or the robot hand.

[0036] Similarly, the slave operating platform 102 can also obtain relevant information about the movement of the slave operating platform 102 itself and the contact information between the slave operating platform 102 and the external environment. There are various implementation methods for the slave operating platform 102 to obtain relevant information about the movement. Schematically, a torque sensor, a tactile sensor, an electronic skin, etc. are set on the slave operating platform 102. At the same time, the slave operating platform 102 can also feedback relevant movement information and / or torque information to the master operating platform 101. For example, through the electronic skin, the slave operating platform 102 can feedback the temperature, surface roughness, etc. of the contacted object to the master operating platform 101.

[0037] Specifically, the data interaction through the system controller 103 includes at least the following two implementation methods:

[0038] Implementation method 1: Schematically, as Figure 1 shown, the system controller 103 is respectively communicatively connected to the first operation platform 101 and the second operation platform 102, and controls the movements of the first operation platform 101 and the second operation platform 102 through the system controller 103. The master operation platform 101 collects the operation information of the operator on the master operation platform 101, and sends the operation information to the system controller 103. The system controller 103 generates a control signal for the slave operation platform 102 according to the operation information, and sends the control signal to the actuator of the slave operation platform 102, and realizes the control of the slave operation platform 102 through the actuator of the slave operation platform 102. Similarly, the slave operation platform 102 collects the feedback information of the slave operation platform 102, and sends the feedback information to the system controller 103. The system controller 103 generates a feedback signal for the master operation platform 101 according to the feedback information, and sends the feedback signal to the master operation platform 101, and realizes motion feedback through the actuator in the master operation platform 101.

[0039] Implementation method 2: Schematically, as Figure 2 shown, a first controller is provided in the master operation platform 101, a second controller is provided in the slave operation platform 102, and there is a network connection between the first controller and the second controller. At this time, the first controller and the second controller are equivalent to the system controller 103. In the use of the bilateral teleoperation system, after the first controller generates a control signal according to the operation information of the operator on the master operation platform 101, it sends the control signal to the second controller, and the second controller controls the movement of the slave operation platform 102. Similarly, after the second controller generates a feedback signal according to the movement of the slave operation platform 102, it sends the feedback signal to the first controller, and the first controller provides corresponding feedback movement to the master operation platform 101.

[0040] The above only illustrates the application scenarios of the bilateral teleoperation system involved in the present application in an exemplary manner, and does not limit the bilateral force feedback method provided by the embodiments of the present application. Other application scenarios that can realize data interaction between the master operation platform 101 and the slave operation platform 102 are also applicable.

[0041] Schematically, as Figure 3 shown, the embodiments of the present application provide a bilateral force feedback method, which is applied to, for example, Figure 1 or Figure 2 the application scenarios shown.

[0042] Schematically, the embodiments of the present application provide a bilateral force feedback method, which is applied to the system controller. The system controller is communicatively connected to both the first operation platform and the second operation platform of the bilateral teleoperation system.

[0043] Schematically, the first operation platform is one of the master operation platform and the slave operation platform, and the second operation platform is the other of the master operation platform and the slave operation platform. Among them, the number of master operation platforms and the number of slave operation platforms can be set according to actual needs. Schematically, the master operation platform can be one or more. Schematically, the slave operation platform can be one or more. In the embodiments of the present application, the bilateral teleoperation system including one master operation platform and one slave operation platform is taken as an example.

[0044] Schematically, the system controller is used to collect at least one of the motion information and torque information of the first operation platform and the second operation platform, generate control signals for the first operation platform and the second operation platform according to the above information, and at the same time, the system controller is also used to control the motion of the first operation platform and / or the second operation platform according to the generated control signals.

[0045] Among them, the motion information includes at least one of the motion information controlled by the first operation platform itself, the motion information controlled by the second operation platform itself, the motion information of the operator's control of the first operation platform, and the motion information of the influence of the external environment of the second operation platform on the second operation platform. The torque information includes at least one of the torque information controlled by the first operation platform itself, the torque information controlled by the second operation platform itself, the torque information of the operator's control of the first operation platform, and the torque information of the influence of the external environment of the second operation platform on the second operation platform.

[0046] Schematically, the motion information includes, but is not limited to, at least one of the position change amount, position change speed value, and angular acceleration value of the first operation platform and / or the second operation platform. The torque information includes, but is not limited to, at least one of the magnitude of the force, the direction of the force, and the velocity of the force of the first operation platform and / or the second operation platform.

[0047] Taking the first operation platform as the master operation platform and the second operation platform as the slave operation platform as an example, schematically, as Figure 4 shown, the operator controls the master operation platform 410 through the handle 401. Information interaction occurs between the slave operation platform 420 and the external environment. The content of the information interaction includes at least one of the motion force of the slave operation platform 420 on the external environment, the contact force of the external environment on the slave operation platform 420, and the position change of the slave operation platform 420. Among them, information interaction is realized between the master operation platform 410 and the slave operation platform 420 through the system controller. The information interaction includes at least one of the position information and interaction force information of the master operation platform 410, and the contact force information and position information of the slave operation platform 420.

[0048] Taking the master-end operating platform 410 including the first torque sensor 402 as an example, the system controller collects the motion information and / or torque information of the master-end operating platform 410 through the first torque sensor 402, and the first torque sensor 402 can detect the interactive force applied by the operator to the master-end operating platform 410. Taking the slave-end operating platform 420 including the second torque sensor 403 as an example, the system controller collects the motion information and / or torque information of the slave-end operating platform 420 through the second torque sensor 403, and the second torque sensor 403 can detect the contact force between the slave-end operating platform 420 and the external environment. At the same time, the slave-end operating platform 420 is also provided with an end effector 404 for realizing the control of the movement of the slave-end operating platform 420.

[0049] Taking the first operating platform as the master operating platform 410 and the second operating platform as the slave operating platform 420 as an example, Figure 4 As shown, in an exemplary bilateral teleoperation system provided in an embodiment of the present application, there are at least the following three closed loops of information interaction.

[0050] The closed loop controlled by the master-end operating platform 410 itself: the operator operates the master-end operating platform 410, and the master-end operating platform 410 senses the relevant information of the operator's operating force through the first torque sensor 402, including but not limited to at least one of the driving torque and position increment, and the first torque sensor 402 transmits the sensed motion information and / or torque information of the master-end operating platform 410 to the system controller. For example, the operator holds the handle 401 and moves forward 0.5 meters, and the master-end operating platform 410 obtains the motion information through the first torque sensor 402. At the same time, after receiving the feedback information from the slave-end operating platform 420, the system controller controls the master-end operating platform 410 to perform corresponding feedback movement, and the movement is fed back to the operator in the closed loop controlled by the master-end operating platform 410 itself. For example, the system controller controls the master-end operating platform 410 to move 0.2 meters to the right front, and the master-end operating platform 410 drives the operator's hand to move 0.2 meters to the right front through the handle 401.

[0051] Closed-loop interaction between the master operation platform 410 and the slave operation platform 420: The system controller collects the motion information and / or torque information of the master operation platform 410 through the first torque sensor 402, and collects the motion information and / or torque information of the slave operation platform 420 through the second torque sensor 403. A control signal for the slave operation platform 420 is generated based on the above information, and the control signal includes at least control parameters of the position information and interaction force information of the master operation platform 410. The system controller controls the slave operation platform 420 to perform corresponding motions according to the control signal, and at the same time, collects the motion information and / or torque information of the master operation platform 410 through the first torque sensor 402 again, and the motion information and / or torque information of the slave operation platform 420 through the second torque sensor 403. The system controller generates a feedback signal for the master operation platform 410 based on the information collected again, and the feedback signal includes at least the contact force information and position information of the slave operation platform 420, thereby forming a closed-loop of interaction.

[0052] Closed-loop self-control of the slave operation platform 420: During the process of the system controller controlling the motion of the slave operation platform 420, the slave operation platform 420 performs corresponding motions according to the control signal and acts on the external environment. At the same time, the external environment will exert a feedback effect on the slave operation platform 420. For example, the slave operation platform 420 raises the robotic arm upward according to the control signal. There is a spring on the upward movement route of the robotic arm of the slave operation platform 420. When the robotic arm touches the spring, a driving force is generated to push it away and continue to move upward. Subsequently, the spring generates a resilience force acting on the robotic arm, causing the robotic arm to have a certain displacement.

[0053] Among them, in the closed-loop interaction between the master operation platform 410 and the slave operation platform 420, the system controller generates a control signal and controls the motions of the master operation platform 410 and the slave operation platform 420.

[0054] According to the foregoing content, the bilateral force feedback method provided by the embodiments of the present application includes the following steps:

[0055] Step 302: Collect the first information.

[0056] Schematically, the first information includes at least one of the motion information and torque information of the second operation platform, and at least one of the motion information and torque information of the self-control of the first operation platform.

[0057] According to the foregoing, the motion information includes at least one of the motion information controlled by the first operating platform itself, the motion information controlled by the second operating platform itself, the motion information of the operator's control over the first operating platform, and the motion information of the influence of the external environment of the second operating platform on the second operating platform. The torque information includes at least one of the torque information controlled by the first operating platform itself, the torque information controlled by the second operating platform itself, the torque information of the operator's control over the first operating platform, and the torque information of the influence of the external environment of the second operating platform on the second operating platform.

[0058] Schematically, the motion information of the second operating platform includes at least one of the motion information controlled by the second operating platform itself and the motion information of the influence of the external environment of the second operating platform on the operating platform. The torque information of the second operating platform includes at least one of the torque information controlled by the second operating platform itself and the torque information of the influence of the external environment of the second operating platform on the operating platform. That is, the information involved in the information interaction closed loop controlled by the second operating platform itself and the information related to the second operating platform involved in the closed loop of the interaction between the first operating platform and the second operating platform are all included in the first information.

[0059] Schematically, the motion information and / or torque information of the second operating platform includes at least one of the following information:

[0060] The position increment of the second operating platform;

[0061] The position control amount of the second operating platform;

[0062] The driving torque of the second operating platform;

[0063] The acting torque between the second operating platform and the second external environment.

[0064] Schematically, the motion information and / or torque information controlled by the first operating platform itself includes the information involved in the information interaction closed loop controlled by the first operating platform itself. Specifically, the motion information and / or torque information controlled by the first operating platform itself includes at least one of the following information:

[0065] The position increment of the first operating platform;

[0066] The position control amount of the first operating platform;

[0067] The driving torque of the first operating platform;

[0068] The acting torque between the first operating platform and the first external environment.

[0069] Among them, the position increment exists only when the first operating platform or the second operating platform is the master operating platform, and refers to the increment information of the master operating platform relative to the initial movement position. Schematically, the position increment includes at least one of the displacement amount of the master operating platform, the joint position change amount, the displacement change speed value, and the joint position change speed value. Schematically, the change of the position increment is affected by at least one of the control of the operator on the master operating platform and the motion feedback of the slave operating platform.

[0070] The position control amount exists only when the first operating platform or the second operating platform is the slave operating platform, and refers to the change amount information of the slave operating platform under the control of the system controller, including at least one of the displacement amount of the slave operating platform, the joint position change amount, the displacement change speed value, and the joint position change speed value. Schematically, the change of the position control amount is affected by at least one of the control of the master operating platform on the slave operating platform and the influence of the external environment of the slave operating platform on the slave operating platform.

[0071] The driving torque refers to the control amount of the driving force of the control signal in the system control for the first operating platform or the second operating platform. Schematically, the change of the driving torque is affected by the control parameters of the torque information in the control signal.

[0072] The acting torque includes the interaction torque and the contact torque. The interaction torque exists only when the first operating platform or the second operating platform is the master operating platform, and refers to the interaction torque received by the master operating platform from the operator; the contact torque exists only when the first operating platform or the second operating platform is the slave operating platform, and refers to the contact torque of the external environment of the slave operating platform on the slave operating platform.

[0073] The driving torque, the contact torque, and the interaction torque all include at least one of the value of the magnitude of the force, the direction, and the speed value.

[0074] Step 304: Generate a first control signal based on the first information.

[0075] Schematically, the first control signal is generated by the first control mode. Among them, the first control mode is set in the system controller.

[0076] According to the difference of the first information, the generated first control signal is also different. Schematically, the first control signal includes at least one of the first motion control signal and the first force control signal. Among them, the first motion control signal is used to control the parameters related to the motion information of the first operating platform, and the first force control signal is used to control the parameters related to the torque information of the first operating platform.

[0077] Step 306: Control the first operating platform to execute the motion corresponding to the first information according to the first control signal.

[0078] Schematically, when the first operation platform is the master operation platform, the first control signal is used to control the master operation platform to execute a movement, and the movement is affected by the movement of the slave operation platform and the self-control of the master operation platform. When the first operation platform is the slave operation platform, the first control signal is used to control the slave operation platform to execute a movement, and the movement is affected by the movement of the master operation platform and the self-control of the slave operation platform.

[0079] In summary, for the bilateral force feedback method provided by the embodiments of the present application, through the first control signal, the first operation platform can obtain the movement information and / or torque information of the second operation platform, as well as the movement information and / or torque information of the first operation platform's self-control, so that the actual control movement of the system controller for the first operation platform can be the same as the desired control movement, thereby making the control of the bilateral teleoperation system more convenient and intuitive.

[0080] Schematically, in the bilateral force feedback method provided by the embodiments of the present application, the system controller includes at least one of two control modes: admittance control mode and impedance control mode. When the system controller includes the admittance control mode and the impedance control mode, either the master operation platform or the slave operation platform can be selected as its control mode. Schematically, the control modes selected by the master operation platform and the slave operation platform can be the same or different.

[0081] Among them, the admittance control mode is a control mode for controlling the movement of the first operation platform and / or the second operation platform based on the admittance principle, and the impedance control mode is a control mode for controlling the movement of the first operation platform and / or the second operation platform based on the impedance principle. The elaboration on the admittance control mode and the impedance control mode will be carried out below and will not be described in detail here.

[0082] In mechanics, the admittance principle and the impedance principle are similar to the concepts of admittance and impedance in electricity. Among them, the admittance principle refers to input potential (which can be regarded as torque information, such as driving force), and output current (which can be regarded as movement information, such as joint angular acceleration); the impedance principle refers to input current and output potential. Specifically, it can be elaborated as follows:

[0083] Schematically, as Figure 5 shown, in the admittance control mode, the servo controller of the system controller is a joint position servo controller. Among them, F d is the desired force of the first operation platform and / or the second operation platform, q d is the desired joint angle of the first operation platform and / or the second operation platform, and F r is the actual interaction force of the first operation platform and / or the second operation platform.

[0084] When the control mode of the first operation platform and / or the second operation platform is the admittance control mode, the system controller sends a control signal of at least one of a desired force and a desired joint angle to the joint position servo controller. The joint position servo controller controls the first operation platform and / or the second operation platform to perform a variable motion of the joint position according to the control signal, and at the same time feeds back the actual interaction force of the first operation platform and / or the second operation platform to the system controller. Among them, the desired force, the desired joint angle, and the actual interaction force are affected by the self-control of the first operation platform and / or the second operation platform. Equivalently, in the admittance control mode, the control signal is affected by the first operation platform and / or the second operation platform, and the interaction between the first operation platform and / or the second operation platform and the external environment.

[0085] Schematically, as Figure 6 shown, in the impedance control mode, the servo controller of the system controller is a joint force servo controller. Among them, F d is the desired force of the first operation platform and / or the second operation platform, q d is the desired joint angle of the first operation platform and / or the second operation platform, q r is the actual joint angle of the first operation platform and / or the second operation platform, F r is the actual interaction force of the first operation platform and / or the second operation platform.

[0086] When the control mode of the first operation platform and / or the second operation platform is the admittance control mode, the system controller sends a control signal of at least one of a desired force and a desired joint angle to the joint force servo controller. The joint force servo controller controls the first operation platform and / or the second operation platform to perform a variable motion of the joint force according to the control signal, and at the same time feeds back the actual joint angle and the actual interaction force of the first operation platform and / or the second operation platform to the system controller. Among them, the desired force, the desired joint angle, the actual joint angle, and the actual interaction force are affected by the self-control of the first operation platform and / or the second operation platform. Equivalently, in the admittance control mode, the control signal is affected by the first operation platform and / or the second operation platform, and the interaction between the first operation platform and / or the second operation platform and the external environment.

[0087] That is to say, for the force control system involved in the bilateral force feedback method provided by the embodiments of the present application, the control signal generated by the system controller is affected by the self-control of the first operation platform and / or the second operation platform, and the interaction between the first operation platform and / or the second operation platform and the external environment.

[0088] Schematically, in the bilateral force feedback method provided by the embodiments of the present application, step 304 has the following implementation manner: generating a first control signal corresponding to the first information according to the first relationship.

[0089] Among them, the first relationship is a second-order relationship corrected by the motion information and torque information when acting on the first external environment through the first operating platform. Schematically, the first external environment refers to the motion environment of the first operating platform, including but not limited to one of the control environment of the operator for the first operating platform and the contact environment when the first operating platform is in motion.

[0090] Schematically, the first relationship applies to the second-order model of motion information and torque information.

[0091] In addition to the first operating platform, when the second operating platform acts on the second external environment, there is a similar second relationship, and this second relationship also applies to the second-order model of motion information and torque information. Schematically, the second relationship is a second-order relationship corrected by the motion information and torque information when the second operating platform acts on the second external environment. Among them, the second external environment refers to the motion environment of the second operating platform, including but not limited to one of the control environment of the operator for the second operating platform and the contact environment when the second operating platform is in motion. Schematically, the first external environment and the second external environment are different environments.

[0092] Schematically, both the first relationship and the second relationship apply to the following second-order model:

[0093]

[0094] Among them, e = q - q d is the deviation between the actual joint angle q of the first operating platform and / or the second operating platform and the expected joint angle q d of the first operating platform and / or the second operating platform, is the first derivative of e, is the second derivative of e; M d is the inertia matrix of the first operating platform and / or the second operating platform in the force control system; D d is the damping matrix of the first operating platform and / or the second operating platform in the force control system; K d is the stiffness matrix of the first operating platform and / or the second operating platform in the force control system; J T is the Jacobian matrix of the first operating platform and / or the second operating platform; F d is the interaction force of the first operating platform based on the first external environment, or is the interaction force of the second operating platform based on the second external environment; F f and F p are the sensed forces corresponding to the motion information and torque information of the first operating platform and the second operating platform, or are the sensed forces corresponding to the motion information and torque information of the second operating platform and the first operating platform.

[0095] Schematically, the inertia matrix, damping matrix, stiffness matrix, and Jacobian matrix can be defined according to actual needs, and are not defined in this application.

[0096] Taking the first operation platform as the master operation platform and the second operation platform as the slave operation platform as an example, the following are two alternative generation methods for the first control signal:

[0097] 1. The first control mode adopted by the system controller is the admittance control mode.

[0098] In the case where the first control mode is the admittance control mode, step 302 can be implemented as follows:

[0099] Collect the motion information, motion information, and torque information controlled by the master operation platform itself.

[0100] Step 304 can be implemented as follows:

[0101] Generate the position increment of the master operation platform controlled by itself corresponding to the motion information of the master operation platform according to the first relationship, generate the first equivalent joint position control quantity corresponding to the motion information of the slave operation platform according to the first relationship, and generate the second equivalent joint position control quantity corresponding to the torque information of the slave operation platform according to the first relationship;

[0102] Through the admittance control mode, generate the first motion control signal based on the position increment of the master operation platform controlled by itself, the first equivalent joint position control quantity, and the second equivalent joint position control quantity. The first motion control signal is used to control the parameters of the position increment of the master operation platform.

[0103] Schematically, considering the force interaction between the master operation platform and the operator, the first relationship is the second-order model of the master operation platform. The second-order model of the master operation platform is as follows:

[0104]

[0105] where e = q - q d is the deviation between the actual joint angle q of the master operation platform and the desired joint angle q d of the master operation platform, is the first derivative of e, is the second derivative of e; M md is the inertia matrix of the master operation platform in the force control system; D md is the damping matrix of the master operation platform in the force control system; K md is the stiffness matrix of the master operation platform in the force control system; is the Jacobian matrix of the master operation platform; F his the interaction force between the master operation platform and the operator; is the master-end sensed torque information corresponding to the torque information of the slave-end operation platform; is the master-end sensed torque information corresponding to the motion information of the slave-end operation platform.

[0106] Schematically, the inertia matrix, damping matrix, stiffness matrix, and Jacobian matrix can be defined according to actual needs, and are not limited in this application.

[0107] Schematically, the generation of the first motion control signal can be obtained according to the second-order model of the master operation platform. That is, the system controller processes the first information according to the second-order model of the master operation platform through the admittance control mode to generate the first control signal.

[0108] Specifically, by solving the second-order model of the master operation platform, the admittance control model of the master operation platform can be obtained as follows:

[0109]

[0110] where,

[0111]

[0112] In the admittance control model of the master operation platform, m is used to represent the master operation platform, and s is used to represent the slave operation platform. Among them, is the position increment of the master operation platform at time k, is the position increment controlled by the master operation platform itself, is the first equivalent joint position control quantity corresponding to the motion information of the slave operation platform, is the second equivalent joint position control quantity corresponding to the torque information of the slave operation platform.

[0113] Schematically, the conversion between the first equivalent joint position control quantity and the second equivalent joint position control quantity can be set according to actual needs.

[0114] Second, the first control mode adopted by the system controller is the impedance control mode.

[0115] When the first control mode is the impedance control mode, step 302 is implemented as follows:

[0116] Collect the torque information controlled by the master operation platform itself, the motion information and torque information of the slave operation platform.

[0117] Step 304 is implemented as follows:

[0118] Generate the driving torque for the master operating platform's own control corresponding to the torque information controlled by the master operating platform itself according to the first relationship and the system dynamics model of the master operating platform; generate the first driving torque corresponding to the motion information of the slave operating platform according to the first relationship and the system dynamics model of the master operating platform; generate the second driving torque corresponding to the torque information of the slave operating platform according to the first relationship and the system dynamics model of the master operating platform;

[0119] Through the impedance control mode, generate the first force control signal based on the driving torque for the master operating platform's own control, the first driving torque, and the second driving torque. The first force control signal is used to control the parameters of the driving torque of the master operating platform.

[0120] Among them, the system dynamics module of the master operating platform has various forms. The system dynamics model of the master operating platform involved in the bilateral force feedback method provided in the embodiments of the present application can be obtained according to the Lagrange equation or the Newton-Euler equation. The system dynamics model of the master operating platform is as follows:

[0121]

[0122] Among them, q m is the joint position of the master operating platform, is the first derivative of q, is q m 's second derivative, M m (q m ) is the inertia matrix of the master operating platform, is the centrifugal force matrix of the master operating platform, G m (q m ) is the gravity matrix of the master operating platform, is the driving torque of the master operating platform at the k-th moment, is the Jacobian matrix of the master operating platform, F h is the operating torque received by the master operating platform. Hereinafter, M m (q m ) will be abbreviated as M m , and will be abbreviated as C m , and G m (q m ) will be abbreviated as G m .

[0123] Schematically, the inertia matrix, the centrifugal force matrix, the gravity matrix, and the Jacobian matrix can be defined according to actual needs, and the present application does not make any limitations here.

[0124] Schematically, the generation of the first motion control signal can be obtained based on the second-order model of the master operation platform and the system dynamics model of the master operation platform. That is, the system controller processes the first information according to the impedance control mode based on the second-order model of the master operation platform and the system dynamics model of the master operation platform to generate the second force control signal.

[0125] Specifically, according to the foregoing content, considering the force interaction between the master operation platform and the operator, the second-order model of the master operation platform is as follows:

[0126]

[0127] According to the second-order model of the master operation platform, it can be obtained that: According to the relationship of e = q - q d the following equation one can be obtained:

[0128]

[0129] Among them, is the desired angular acceleration of the master operation platform.

[0130] Substituting equation one into the system dynamics model of the master operation platform, the impedance control model of the master operation platform is as follows:

[0131]

[0132] Among them,

[0133]

[0134] In the impedance control model of the master operation platform, m is used to refer to the master operation platform, and s is used to refer to the slave operation platform. Among them, is the driving torque of the master operation platform at time k, is the driving torque controlled by the master operation platform itself, is the first driving torque corresponding to the motion information of the slave operation platform, is the second driving torque corresponding to the torque information of the slave operation platform.

[0135] Schematically, the conversion of the first driving torque and the second driving torque can be set according to actual needs.

[0136] In summary, in the bilateral force feedback method provided by the embodiments of the present application, two optional generation methods of the first control signal are given according to the second-order relationship corrected by the motion information and torque information when the first operation platform acts on the first external environment.

[0137] Schematically, such as Figure 7As shown in the figure, an embodiment of the present application provides another bilateral force feedback method, which is applied to a system controller. The system controller is communicatively connected to both a first operation platform and a second operation platform in a bilateral teleoperation system. The method includes the following steps:

[0138] Step 701: Determine one of a admittance control mode and an impedance control mode as a first control mode according to the working condition of the first operation platform.

[0139] According to the foregoing content, in the system controller in the embodiment of the present application, at least one of an admittance control mode and an impedance control mode is included. According to the specific working condition of the first operation platform, the system controller can switch or select the first control mode through a control mode switcher.

[0140] Schematically, the determination of the first control mode has the following optional methods:

[0141] (1) When the first operation platform includes a joint position servo controller, determine the admittance control mode as the first control mode; when the first operation platform includes a joint force servo controller, determine the impedance control mode as the first control mode;

[0142] (2) When the accuracy of the torque information self-controlled in the first operation platform is not greater than a first threshold, determine the admittance control mode as the first control mode; when the accuracy of the torque information self-controlled in the first operation platform is greater than the first threshold, determine the impedance control mode as the first control mode;

[0143] (3) When the moving speed of the first operation platform exceeds a second threshold, determine the admittance control mode as the first control mode; when the moving speed of the first operation platform does not exceed the second threshold, determine the impedance control mode as the first control mode;

[0144] (4) When the first operation platform collides with a first external environment, determine the impedance control mode as the first control mode;

[0145] (5) The first operation platform is a slave operation platform. When the stiffness of the contacting object of the slave operation platform exceeds a third threshold, determine the impedance control mode as the first control mode.

[0146] For example, when the underlying controller of the first operation platform only has a joint position servo controller, determine the admittance control mode as the first control mode. Another example is that when the acquired value or acquisition quality of the torque information of the first operation platform is lower than the first threshold, determine the admittance control mode as the first control mode.

[0147] Step 702: Collect first information.

[0148] Schematically, the first information includes at least one of the motion information and torque information of the second operation platform, and at least one of the motion information and torque information controlled by the first operation platform itself.

[0149] Step 703: Generate a first control signal based on the first information.

[0150] Schematically, the first control signal is generated by a first control mode.

[0151] Step 704: Control the first operation platform to perform a motion corresponding to the first information according to the first control signal.

[0152] Schematically, steps 702, 703, and 704 are the same as steps 302, 304, and 306, and can be referred to, and will not be elaborated here.

[0153] Step 705: Determine one of the admittance control mode and the impedance control mode as the second control mode according to the working condition of the second operation platform.

[0154] According to the foregoing content, in the system controller in the embodiments of the present application, at least one of the admittance control mode and the impedance control mode is included. According to the specific working condition of the second operation platform, the system controller can switch or select the second control mode through a control mode switcher.

[0155] Schematically, the determination of the second control mode has the following optional methods:

[0156] (1) When the second operation platform includes a joint position servo controller, determine the admittance control mode as the second control mode; when the second operation platform includes a joint force servo controller, determine the impedance control mode as the second control mode;

[0157] (2) When the accuracy of the torque information controlled by the second operation platform itself is not greater than the first threshold, determine the admittance control mode as the second control mode; when the accuracy of the torque information controlled by the second operation platform itself is greater than the first threshold, determine the impedance control mode as the second control mode;

[0158] (3) When the motion speed of the second operation platform exceeds the second threshold, determine the admittance control mode as the second control mode; when the motion speed of the second operation platform does not exceed the second threshold, determine the impedance control mode as the second control mode;

[0159] (4) When the second operation platform collides with the first external environment, determine the impedance control mode as the second control mode;

[0160] (5) The second operation platform is the slave operation platform. When the stiffness of the object contacted by the slave operation platform exceeds the third threshold, the impedance control mode is determined as the second control mode.

[0161] For example, when the underlying controller of the second operation platform only has a joint position servo controller, the admittance control mode is determined as the second control mode. Another example is that when the obtained value or the obtained quality of the torque information of the second operation platform is lower than the first threshold, the admittance control mode is determined as the second control mode.

[0162] Step 706: Collect the second information.

[0163] Schematically, the second information includes at least one of the motion information and the torque information of the first operation platform in response to the first information, and at least one of the motion information and the torque information of the second operation platform under its own control.

[0164] According to the foregoing content, the motion information and / or torque information of the first operation platform in response to the first information includes the information involved in the information interaction closed-loop controlled by the first operation platform itself, and the information related to the first operation platform involved in the closed-loop interaction between the first operation platform and the second operation platform are all included in the second information.

[0165] Schematically, the motion information and / or torque information of the first operation platform in response to the first information includes at least one of the following information:

[0166] The position increment of the first operation platform in response to the first information;

[0167] The position control quantity of the first operation platform in response to the first information;

[0168] The driving torque of the first operation platform in response to the first information;

[0169] The acting torque between the first operation platform and the first external environment.

[0170] Schematically, the motion information and / or torque information of the second operation platform under its own control includes the information involved in the information interaction closed-loop controlled by the second operation platform itself. Specifically, the motion information and / or torque information of the second operation platform under its own control includes at least one of the following information:

[0171] The position increment of the second operation platform;

[0172] The position control quantity of the second operation platform;

[0173] The driving torque of the second operation platform;

[0174] The acting torque between the second operation platform and the second external environment.

[0175] For the elaboration of the position increment, position control amount, driving torque, and acting torque, reference can be made to the relevant content of step 202, which will not be elaborated here.

[0176] Step 707: Generate a second control signal based on the second information.

[0177] Schematically, the second control signal is generated by a second control mode. Among them, the second control mode is set in the system controller.

[0178] According to different second information, the generated second control signals are also different. Schematically, the second control signal includes at least one of a second motion control signal and a second force control signal. Among them, the second motion control signal is used to control parameters related to the motion information of the second operation platform, and the second force control signal is used to control parameters related to the torque information of the second operation platform.

[0179] According to the foregoing content, in the bilateral force feedback method provided by the embodiments of the present application, the system controller includes at least one of an admittance control mode and an impedance control mode. Among them, the second control mode is one of the admittance control mode and the impedance control mode.

[0180] Schematically, the first control mode and the second control mode are the same one among the admittance control mode and the impedance control mode; or, the first control mode is one of the admittance control mode and the impedance control mode, and the second control mode is the other one of the admittance control mode and the impedance control mode. That is to say, the first control mode and the second control mode can be the same or different.

[0181] Schematically, the second control signal is generated based on a second-order relationship after being corrected according to the motion information and torque information when the second operation platform acts on the second external environment. Among them, the second external environment refers to the motion environment of the second operation platform, including but not limited to one of the control environment of the operator for the second operation platform and the contact environment when the second operation platform moves. Schematically, the first external environment and the second external environment are different environments.

[0182] Step 708: Control the second operation platform to execute a motion corresponding to the second information according to the second control signal.

[0183] Schematically, when the second operation platform is the master operation platform, the second control signal is used to control the master operation platform to execute a motion, and this motion is affected by the motion of the slave operation platform and the self-control of the master operation platform; when the second operation platform is the slave operation platform, the second control signal is used to control the slave operation platform to execute a motion, and this motion is affected by the motion of the master operation platform and the self-control of the slave operation platform.

[0184] In summary, in the bilateral force feedback method provided by the embodiments of the present application, the control mode of the system controller can be determined according to the working conditions of the first operating platform or the second operating platform; by collecting different information, the control parameters of the first control signal and the second control signal are made more accurate, ensuring that the actual control movements of the system controller for the first operating platform and the second operating platform are the same as the desired control movements.

[0185] According to the foregoing, the control signals generated by the system controller are affected by the self-control of the first operating platform and / or the second operating platform, and the interaction between the first operating platform and / or the second operating platform and the external environment.

[0186] Similar to the first control signal, the second control signal is affected by the movement of the first operating platform in response to the first information and the self-control of the second operating platform.

[0187] Schematically, in the bilateral force feedback method provided by the embodiments of the present application, step 707 is implemented as follows: generating a second control signal corresponding to the second information according to the second relationship.

[0188] Wherein, the second relationship is a second-order relationship corrected by the motion information and torque information when the second operating platform acts on the second external environment.

[0189] According to the foregoing, the second relationship is also applicable to the second-order model of the motion information and torque information, and the second-order model is as follows:

[0190]

[0191] Taking the first operating platform as the master operating platform and the second operating platform as the slave operating platform as an example, the following two optional generation methods of the second control signal are given:

[0192] First, the second control mode adopted by the system controller is the admittance control mode.

[0193] In the case where the second control mode is the admittance control mode, step 706 is implemented as follows:

[0194] Collecting the motion information of the self-control of the slave operating platform, the motion information and torque information of the master operating platform in response to the first information.

[0195] Step 707 is implemented as follows:

[0196] Generate a position control quantity of the slave operation platform controlled by itself corresponding to the motion information of the slave operation platform controlled by itself according to the second relationship, generate a third equivalent joint position control quantity corresponding to the motion information of the master operation platform in response to the first information according to the second relationship, and generate a fourth equivalent joint position control quantity corresponding to the torque information of the master operation platform in response to the first information according to the second relationship;

[0197] Through the admittance control mode, generate a second motion control signal based on the position control quantity of the slave operation platform controlled by itself, the third equivalent joint position control quantity, and the fourth equivalent joint position control quantity. The second motion control signal is used to control the parameters of the desired joint position of the slave operation platform.

[0198] Schematically, considering the force interaction between the slave operation platform and the external environment, there is a second-order model of the slave operation platform as follows:

[0199]

[0200] where e = q - q d is the deviation between the actual joint angle q of the slave operation platform and the desired joint angle q d of the slave operation platform, is the first derivative of e, is the second derivative of e; M sd is the inertia matrix of the slave operation platform in the force control system; D sd is the damping matrix of the slave operation platform in the force control system; K sd is the stiffness matrix of the slave operation platform in the force control system; is the Jacobian matrix of the slave operation platform; F e is the contact torque between the slave operation platform and the external environment; is the slave perception torque information corresponding to the torque information of the master operation platform; is the slave perception torque information corresponding to the motion information of the master operation platform.

[0201] Schematically, the inertia matrix, damping matrix, stiffness matrix, and Jacobian matrix can be defined according to actual needs, and are not defined in this application.

[0202] Schematically, the generation of the second motion control signal can be obtained according to the second-order model of the slave operation platform. That is, the system controller processes the second information based on the second-order model of the slave operation platform through the admittance control mode to generate the second control signal.

[0203] Specifically, by solving according to the second-order model of the slave operation platform, the admittance control model of the slave operation platform can be obtained as follows:

[0204]

[0205] Among them,

[0206]

[0207] In the admittance control model of the slave operation platform, m is used to represent the master operation platform, and s is used to represent the slave operation platform. Among them, is the desired joint position of the slave operation platform at time k, is the position control quantity controlled by the slave operation platform itself, is the third equivalent joint position control quantity corresponding to the motion information of the master operation platform, is the fourth equivalent joint position control quantity corresponding to the torque information of the master operation platform.

[0208] Schematically, the conversion of the third equivalent joint position control quantity and the fourth equivalent joint position control quantity can be set according to actual needs.

[0209] Second, the second control mode adopted by the system controller is the impedance control mode.

[0210] In the case where the second control mode is the impedance control mode, step 706 is implemented as follows:

[0211] Collect the torque information controlled by the slave operation platform itself, the motion information and torque information of the master operation platform in response to the first information.

[0212] Step 707 is implemented as follows:

[0213] Generate the driving torque controlled by the slave operation platform itself corresponding to the torque information controlled by the slave operation platform according to the second relationship and the system dynamics model of the slave operation platform; generate the third driving torque corresponding to the motion information of the master operation platform in response to the first information according to the second relationship and the system dynamics model of the slave operation platform; generate the fourth driving torque corresponding to the torque information of the master operation platform in response to the first information according to the second relationship and the system dynamics model of the slave operation platform;

[0214] Through the impedance control mode, generate a second force control signal based on the driving torque controlled by the slave operation platform itself, the third driving torque and the fourth driving torque, and the second force control signal is used to control the parameters of the driving torque of the slave operation platform.

[0215] Among them, the system dynamics module of the slave operation platform has various forms. The system dynamics model of the slave operation platform involved in the bilateral force feedback method provided in the embodiments of the present application can be obtained according to the Lagrange equation or the Newton-Euler equation. The system dynamics model of the slave operation platform is as follows:

[0216]

[0217] Among them, q s is the joint position of the slave operation platform, is the first derivative of q, is q s 's second derivative, M s (q s ) is the inertia matrix of the slave operation platform, is the centrifugal force matrix of the slave operation platform, G s (q s ) is the gravity matrix of the slave operation platform, is the driving torque of the slave operation platform at the k-th moment, is the Jacobian matrix of the slave operation platform, F e is the contact torque between the slave operation platform and the external environment. Hereinafter, M s (q s ) will be abbreviated as M s , and will be abbreviated as C s , and G s (q s ) will be abbreviated as G s .

[0218] Schematically, the inertia matrix, the centrifugal force matrix, the gravity matrix, and the Jacobian matrix can be defined according to actual needs, and the present application does not make any limitations here.

[0219] Schematically, the generation of the second motion control signal can be obtained according to the second-order model of the slave operation platform and the system dynamics model of the slave operation platform. That is, the system controller processes the second information according to the impedance control mode, based on the second-order model of the slave operation platform and the system dynamics model of the slave operation platform, to generate the second control signal.

[0220] Specifically, according to the foregoing content, considering the force interaction between the slave operation platform and the external environment, there is a second-order model of the slave operation platform as follows:

[0221]

[0222] According to the second-order model of the slave operation platform, it can be obtained that:

[0223] According to the relationship of e = q - q d , the following equation two can be obtained:

[0224]

[0225] Among them, is the desired angular acceleration of the slave operation platform.

[0226] Substituting Equation 2 into the system dynamics model of the slave operation platform, the impedance control model of the slave operation platform can be obtained as follows:

[0227]

[0228] where

[0229]

[0230] In the impedance control model of the slave operation platform, m is used to represent the master operation platform, and s is used to represent the slave operation platform. Among them, is the driving torque of the slave operation platform at time k, is the driving torque controlled by the slave operation platform itself, is the third driving torque corresponding to the motion information of the master operation platform, is the fourth driving torque corresponding to the torque information of the master operation platform.

[0231] Schematically, the conversion of the third driving torque and the fourth driving torque can be set according to actual needs.

[0232] In summary, in the bilateral force feedback method provided by the embodiments of the present application, two optional generation methods of the second control signal are given according to the second-order relationship corrected according to the motion information and torque information when the second operation platform acts on the second external environment.

[0233] Taking the first operation platform as the master operation platform and the second operation platform as the slave operation platform as an example, schematically as Figure 8 shown, the embodiments of the present application provide an implementation manner of a bilateral force feedback method in a bilateral teleoperation system, including the following steps:

[0234] Step 801: The system controller determines the first control mode.

[0235] Schematically, the first control mode is determined according to the working condition of the master operation platform, and the control mode is selected or switched by the control mode switch in the system controller.

[0236] Step 8021: The system controller selects the admittance control mode as the first control mode.

[0237] Step 8022: The system controller selects the impedance control mode as the first control mode.

[0238] For example, if the underlying controller of the master operation platform only has a joint position servo controller, step 8021 is executed at this time, and the system controller selects the admittance control model as the control mode of the master operation platform. Another example is that the robotic arm of the master operation platform collides with a wall. At this time, step 8022 is executed, and the system controller selects the impedance control model as the control mode of the master operation platform.

[0239] Schematically, only one of step 8021 and step 8022 can be executed, and they cannot be executed simultaneously.

[0240] Step 803: The system controller controls the master operation platform to move according to the first control signal.

[0241] Schematically, the first control signal is generated by the admittance control mode or the impedance control mode, and the first control signal is used to control the parameters of the position increment or the driving torque of the master operation platform. Specifically, the first control signal is generated by the admittance control mode, and the first control signal is used to control the parameters of the position increment of the master operation platform; or, the first control signal is generated by the impedance control mode, and the first control signal is used to control the parameters of the driving torque of the master operation platform.

[0242] Step 804: The master operation platform or the slave operation platform sends the motion condition to the system controller.

[0243] Schematically, the motion condition includes the motion information and / or torque information of the master operation platform and / or the slave operation platform.

[0244] After the master operation platform finishes the motion controlled by the first control signal, the operator will operate the master operation platform again. At this time, the master operation platform sends the collected motion information and / or torque information to the system controller. Similarly, after the slave operation platform finishes the motion controlled by the second control signal and the external environment affects the slave operation platform, the slave operation platform also sends the collected motion information and / or torque information to the system controller.

[0245] Step 805: The system controller determines the second control mode.

[0246] Schematically, the second control mode is determined according to the working condition of the slave operation platform, and the control mode is selected or switched by the control mode switch in the system controller.

[0247] Step 8061: The system controller selects the admittance control mode as the second control mode.

[0248] Step 8062: The system controller selects the impedance control mode as the second control mode.

[0249] For example, if the movement speed of the slave operation platform exceeds the second threshold, step 8061 is executed at this time, and the system controller selects the admittance control model as the control mode of the slave operation platform. Another example is that if the stiffness of the object contacted by the slave operation platform exceeds the fourth threshold, step 8062 is executed at this time, and the system controller selects the impedance control model as the control mode of the slave operation platform.

[0250] Schematically, only one of step 8061 and step 8062 can be executed, and they cannot be executed simultaneously.

[0251] Step 807: The system controller controls the movement of the slave operation platform according to the second control signal.

[0252] Schematically, the second control signal is generated by the admittance control mode or the impedance control mode, and the second control signal is used to control the parameters of the desired joint position or the driving torque of the slave operation platform. Specifically, the second control signal is generated by the admittance control mode, and the second control signal is used to control the parameters of the desired joint position of the slave operation platform; or, the second control signal is generated by the impedance control mode, and the second control signal is used to control the parameters of the driving torque of the slave operation platform.

[0253] Step 808: The slave operation platform obtains its own movement following situation.

[0254] Schematically, the movement following situation includes the movement controlled by the slave operation platform itself, and the movement information and / or torque information corresponding to the master operation platform to which the slave operation platform responds. There are various implementation manners for the slave operation platform to obtain its own movement following situation. Schematically, the slave operation platform obtains the movement information and / or torque information through contact force detection.

[0255] In summary, in the bilateral force feedback method provided by the embodiments of the present application, through the arbitrary switching between the admittance control mode and the impedance control mode, the master operation platform can sense the movement following situation of the slave operation platform and the interaction information between the external environment of the slave operation platform and the slave operation platform, and at the same time, the slave operation platform can also obtain the movement situation of the master operation platform and the interaction information between the master operation platform and the operator.

[0256] Schematically, such as Figure 9 shown, taking the generation of the first control signal in the first operation platform as an example. In the bilateral teleoperation system provided by the embodiments of the present application, the system controller includes a force feedback signal integrator, a motion feedback signal integrator, a virtual force controller, and a virtual motion controller. Among them, the impedance control mode is set in the virtual force controller, and the admittance control mode is set in the virtual motion controller.

[0257] Schematically, the force feedback signal fuser is used to fuse the force feedback signals of the first operating platform and the first external environment and / or the second operating platform and the second external environment, and the motion feedback signal fuser is used to fuse the motion feedback signals of the first operating platform and the first external environment and / or the second operating platform and the second external environment. The virtual-real force controller is used to fuse the force feedback signal of the real force and the force feedback signal of the virtual force, and the virtual-real motion controller is used to fuse the force feedback signal of the real motion and the force feedback signal of the virtual motion.

[0258] Specifically, taking the example that the first operating platform includes a robotic arm, the feedback signal fuser collects the motion feedback signal of the robotic arm of the first operating platform and the force feedback signals of n other arms, and assigns gain adjustment parameters kf, kf1, kf2…kfn to each feedback channel. Among them, the robotic arm refers to the robotic arm, and the other arms refer to the components in the first external environment that interact with the robotic arm to generate force. For example, if the first operating platform is the master operating platform, the robotic arm refers to the robotic arm of the master operating platform, and the other arms include at least one of the operator's arm, the person or mechanical component touched by the master operating platform. Schematically, the gain adjustment parameter is used to indicate the weight of different feedback signals. Schematically, the value of the gain adjustment parameter can be set according to actual needs. Through each feedback signal and the corresponding gain adjustment parameter, the force feedback information fuser fuses the n + 1 force feedback signals into a feedback signal of the real force. Schematically, the motion feedback signal fuser obtains a feedback signal of the real motion after fusion. The signal fusion process of the motion feedback signal fuser is similar to that of the force feedback signal fuser and can be referred to, so it will not be elaborated here.

[0259] Subsequently, according to the selection of the control mode of the first operating platform, a torque control signal or a motion control signal is generated through the virtual-real force controller or the virtual-real motion controller.

[0260] Taking the impedance control mode selected by the first operating platform as an example. The feedback signal of the real motion obtained through the motion feedback signal fuser can pass through the impedance control model in the impedance control mode to obtain the feedback signal of the virtual force corresponding to the feedback signal of the real motion. The gain adjustment parameters k1 and k2 are also assigned to the feedback signal channels of the real force and the virtual force. Schematically, the gain adjustment parameter is used to indicate the weight of different feedback signals. Schematically, the value of the gain adjustment parameter can be set according to actual needs. Through the feedback signal of the real force, the feedback signal of the virtual force, and the corresponding gain adjustment parameters k1 and k2, the virtual-real force controller can obtain a feedback signal of the sum of the virtual-real torques, and this feedback signal generates a corresponding torque control signal through the force servo controller. Schematically, the virtual-real motion controller obtains a feedback signal of the sum of the virtual-real motions through fusion, and this feedback signal generates a corresponding motion control signal through the position servo controller. The signal fusion process of the real motion controller is similar to that of the virtual-real force controller and can be referred to, so it will not be elaborated here.

[0261] Subsequently, the second operating platform selects the control mode and feeds back the obtained torque control signal and motion control signal. The feedback process is similar to that of the first operating platform and can be referred to, so it will not be elaborated here.

[0262] Schematically, a control model switcher is provided in the system controller, and the control model switcher is used to implement the selection and switching of the control modes of the first operating platform and the second operating platform.

[0263] In summary, the embodiments of the present application provide four optional implementation methods for the bilateral force feedback method, making the feedback methods of the bilateral force feedback information in the bilateral teleoperation system diverse. The bilateral force feedback method provided by the embodiments of the present application can simplify the design scheme of the system control framework of the bilateral teleoperation system and realize the modularization of the system control framework.

[0264] According to the foregoing content, the bilateral force feedback method provided by the embodiments of the present application can be applied not only to the control of a single operating platform - single operating platform, but also to the control of multiple operating platforms - multiple operating platforms. Schematically, as Figure 10 shown, the embodiments of the present application provide the following three optional modes for multiple operating platforms - multiple operating platforms:

[0265] (1) Single operating platform - multiple operating platforms mode.

[0266] Schematically, as Figure 10As shown in (a) of , the control mode of single operation platform - multi - operation platform is carried out through the bilateral tele - operation system of single operation platform - single operation platform and the coordinated control of multiple other operation platforms. Schematically, the slave operation platform participating in bilateral force - feedback tele - operation is the main operation platform in the multi - arm, and other operation platforms are slave operation platforms. In this mode, it is necessary to take into account both bilateral tele - operation and the coordinated control of multi - operation platforms.

[0267] That is, the master operation platform controls the slave operation platform 1 through the tele - operation communication link, and at the same time conducts coordinated control over the slave operation platform 1 and the slave operation platform 2... the slave operation platform N, so that the slave operation platform 1, the slave operation platform 2... the slave operation platform N act on the environmental object simultaneously. Among them, the slave operation platform 1 is the main operation platform, and the slave operation platform 2... the slave operation platform N are slave operation platforms. Schematically, the information interaction in this mode is all two - way.

[0268] (2) Multi - operation platform - multi - operation platform mode for a single operator.

[0269] Schematically, as shown in Figure 10 (b) of , this mode takes the dual - operation platform - dual - operation platform system as an example. The two arms of a single operator are used to control the master operation platform 1 and the master operation platform 2, and then through the tele - operation communication link, the slave operation platform 1 and the slave operation platform 2 are respectively controlled to act on the environmental object simultaneously. Schematically, the information interaction in this mode is all two - way.

[0270] (3) Multi - operation platform - multi - operation platform mode for multiple operators.

[0271] Schematically, as shown in Figure 10 (c) of , this mode requires multiple operators to participate in controlling multiple master operation platform systems to achieve. That is, operator 1 controls the master operation platform 1, operator 2 controls the master operation platform 2... operator N controls the slave operation platform N, and then through the tele - operation communication link, the slave operation platform 1, the slave operation platform 2... the slave operation platform N are respectively controlled to act on the environmental object simultaneously. Schematically, the information interaction in this mode is all two - way.

[0272] In summary, the embodiment of the present application provides a bilateral force - feedback method, which is not only applicable to the control of single operation platform - single operation platform, but also applicable to the control of multi - operation platform - multi - operation platform, and can meet various application scenarios of bilateral tele - operation systems.

[0273] Figure 11The structural diagram of the bilateral force feedback device provided by the embodiment of the present application is shown. Schematically, the bilateral force feedback device has a communication connection with both the first operation platform and the second operation platform of the bilateral teleoperation system. The device includes a determination module 1120, a collection module 1140, a generation module 1160, and a control module 1180, where:

[0274] The determination module 1120 is configured to determine one of the admittance control mode and the impedance control mode as the first control mode according to the working condition of the first operation platform;

[0275] The collection module 1140 is configured to collect first information, where the first information includes at least one of the motion information and the torque information of the second operation platform, and at least one of the motion information and the torque information controlled by the first operation platform itself;

[0276] The generation module 1160 is configured to generate a first control signal based on the first information;

[0277] The control module 1180 is configured to control the first operation platform to perform a motion corresponding to the first information according to the first control signal.

[0278] According to an implementable manner of the present application, the generation module 1160 is further configured to generate a first control signal corresponding to the first information according to a first relationship, where the first relationship is a second-order relationship corrected by the motion information and the torque information when the first operation platform acts on the first external environment.

[0279] According to an implementable manner of the present application, the first operation platform is the master operation platform, the second operation platform is the slave operation platform, and the first control mode adopted by the system controller is the admittance control mode. The collection module 1140 is further configured to collect the motion information controlled by the master operation platform itself, the motion information and the torque information of the slave operation platform. The generation module 1160 is further configured to generate a position increment of the master operation platform controlled by itself corresponding to the motion information controlled by the master operation platform itself according to the first relationship, generate a first equivalent joint position control quantity corresponding to the motion information of the slave operation platform according to the first relationship, and generate a second equivalent joint position control quantity corresponding to the torque information of the slave operation platform according to the first relationship; through the admittance control mode, a first motion control signal is generated based on the position increment of the master operation platform controlled by itself, the first equivalent joint position control quantity, and the second equivalent joint position control quantity, and the first motion control signal is used to control the parameters of the position increment of the master operation platform.

[0280] According to an implementable manner of the present application, the first operation platform is the master operation platform, the second operation platform is the slave operation platform, and the first control mode adopted by the system controller is the impedance control mode. The acquisition module 1140 is further configured to acquire the torque information controlled by the master operation platform itself, the motion information and torque information of the slave operation platform. The generation module 1160 is further configured to generate the driving torque controlled by the master operation platform itself corresponding to the torque information controlled by the master operation platform itself according to the first relationship and the system dynamics model of the master operation platform; generate the first driving torque corresponding to the motion information of the slave operation platform according to the first relationship and the system dynamics model of the master operation platform; generate the second driving torque corresponding to the torque information of the slave operation platform according to the first relationship and the system dynamics model of the master operation platform; through the impedance control mode, generate the first force control signal based on the driving torque controlled by the master operation platform itself, the first driving torque and the second driving torque, and the first force control signal is used to control the parameters of the driving torque of the master operation platform.

[0281] According to an implementable manner of the present application, the determination module 1120 is configured to: when the first operation platform includes a joint position servo controller, determine the admittance control mode as the first control mode; when the first operation platform includes a joint force servo controller, determine the impedance control mode as the first control mode; or, when the accuracy of the torque information controlled by the first operation platform itself is not greater than the first threshold, determine the admittance control mode as the first control mode; when the accuracy of the torque information controlled by the first operation platform itself is greater than the first threshold, determine the impedance control mode as the first control mode; or, when the motion speed of the first operation platform exceeds the second threshold, determine the admittance control mode as the first control mode; when the motion speed of the first operation platform does not exceed the second threshold, determine the impedance control mode as the first control mode; or, when the first operation platform collides with the first external environment, determine the impedance control mode as the first control mode; or, the first operation platform is the slave operation platform, and when the stiffness of the contact object of the slave operation platform exceeds the third threshold, determine the impedance control mode as the first control mode.

[0282] According to an implementable manner of the present application, the acquisition module 1140 is further configured to acquire second information, where the second information includes at least one of the motion information and torque information in response to the first information of the first operation platform, and at least one of the motion information and torque information controlled by the second operation platform itself. The generation module 1160 is further configured to generate a second control signal based on the second information. The control module 1180 is further configured to control the second operation platform to perform a motion corresponding to the second information according to the second control signal.

[0283] In an implementable manner according to the present application, the generation module 1160 is further configured to generate a second control signal corresponding to the second information according to a second relationship, where the second relationship is a second-order relationship corrected by the motion information and torque information when the second operation platform acts on the second external environment.

[0284] In an implementable manner according to the present application, the first operation platform is the master operation platform, the second operation platform is the slave operation platform, and the second control mode adopted by the system controller is the admittance control mode. The acquisition module 1140 is further configured to acquire the motion information controlled by the slave operation platform itself, the motion information and torque information of the master operation platform in response to the first information. The generation module 1160 is further configured to generate a position control quantity of the slave operation platform controlled by itself corresponding to the motion information controlled by the slave operation platform itself according to the second relationship, generate a third equivalent joint position control quantity corresponding to the motion information of the master operation platform in response to the first information according to the second relationship, and generate a fourth equivalent joint position control quantity corresponding to the torque information of the master operation platform in response to the first information according to the second relationship; through the admittance control mode, based on the position control quantity of the slave operation platform controlled by itself, the third equivalent joint position control quantity, and the fourth equivalent joint position control quantity, generate a second motion control signal, and the second motion control signal is used to control the parameters of the desired joint position of the slave operation platform.

[0285] In an implementable manner according to the present application, the first operation platform is the master operation platform, the second operation platform is the slave operation platform, and the second control mode adopted by the system controller is the impedance control mode. The acquisition module 1140 is further configured to acquire the torque information controlled by the slave operation platform itself, the motion information and torque information of the master operation platform in response to the first information. The generation module 1160 is further configured to generate a driving torque of the slave operation platform controlled by itself corresponding to the torque information controlled by the slave operation platform itself according to the second relationship and the system dynamics model of the slave operation platform; generate a third driving torque corresponding to the motion information of the master operation platform in response to the first information according to the second relationship and the system dynamics model of the slave operation platform; generate a fourth driving torque corresponding to the torque information of the master operation platform in response to the first information according to the second relationship and the system dynamics model of the slave operation platform; through the impedance control mode, based on the driving torque of the slave operation platform controlled by itself, the third driving torque, and the fourth driving torque, generate a second force control signal, and the second force control signal is used to control the parameters of the driving torque of the slave operation platform.

[0286] In an implementable manner according to the present application, the determination module 1120 is further configured to determine one of the admittance control mode and the impedance control mode as the second control mode according to the working condition of the second operation platform.

[0287] According to an implementable manner of the present application, the determining module 1120 is configured to: when the second operation platform includes a joint position servo controller, determine the admittance control mode as the second control mode; when the second operation platform includes a joint force servo controller, determine the impedance control mode as the second control mode; or, when the accuracy of the torque information controlled by itself in the second operation platform is not greater than the first threshold, determine the admittance control mode as the second control mode; when the accuracy of the torque information controlled by itself in the second operation platform is greater than the first threshold, determine the impedance control mode as the second control mode; or, when the moving speed of the second operation platform exceeds the second threshold, determine the admittance control mode as the second control mode; when the moving speed of the second operation platform does not exceed the second threshold, determine the impedance control mode as the second control mode; or, when the second operation platform collides with the first external environment, determine the impedance control mode as the second control mode; or, the second operation platform is a slave operation platform, and when the stiffness of the contacting object of the slave operation platform exceeds the third threshold, determine the impedance control mode as the second control mode.

[0288] An embodiment of the present application further provides a computer device, which includes a processor and a memory. At least one program code is stored in the memory, and the program code is loaded and executed by the processor to implement the bilateral force feedback method as described above.

[0289] An embodiment of the present application further provides a computer-readable storage medium, in which executable instructions are stored, and the executable instructions are loaded and executed by the processor to implement the bilateral force feedback method as described above.

[0290] It should be understood that "a plurality" mentioned herein refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0291] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a disk, an optical disc, etc.

[0292] The above are only optional embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A bilateral force feedback method is applied to a system controller. The system controller is communicatively connected to both a first operating platform and a second operating platform of a bilateral teleoperation system. The first operating platform is the master operating platform, and the second operating platform is the slave operating platform. Characterized in that, The method includes: Collecting first information, where the first information includes at least one of the motion information and torque information of the slave operating platform, and at least one of the motion information and torque information controlled by the master operating platform itself; Generating a first control signal corresponding to the first information according to a first relationship, where the first relationship is a second-order relationship corrected by the motion information and torque information during the interaction between the master operating platform and a first external environment; Controlling the master operating platform to execute a motion corresponding to the first information according to the first control signal.

2. The bilateral force feedback method according to claim 1, where the first control mode adopted by the system controller is the admittance control mode. Characterized in that, The collecting of the first information includes: Collecting the motion information controlled by the master operating platform itself, the motion information and torque information of the slave operating platform; The generating of the first control signal corresponding to the first information according to the first relationship includes: Generating the position increment of the master operating platform itself controlled by the master operating platform according to the first relationship, generating a first equivalent joint position control quantity corresponding to the motion information of the slave operating platform according to the first relationship, and generating a second equivalent joint position control quantity corresponding to the torque information of the slave operating platform according to the first relationship; Generating a first motion control signal based on the position increment of the master operating platform itself controlled by the master operating platform, the first equivalent joint position control quantity, and the second equivalent joint position control quantity through the admittance control mode. The first motion control signal is used to control the parameters of the position increment of the master operating platform.

3. The bilateral force feedback method according to claim 1, where the first control mode adopted by the system controller is the impedance control mode. Characterized in that, The collecting of the first information includes: Collecting the torque information controlled by the master operating platform itself, the motion information and torque information of the slave operating platform; The generating of the first control signal corresponding to the first information according to the first relationship includes: Generating the driving torque of the master operating platform itself controlled by the master operating platform according to the first relationship and the system dynamics model of the master operating platform; generating a first driving torque corresponding to the motion information of the slave operating platform according to the first relationship and the system dynamics model of the master operating platform; generating a second driving torque corresponding to the torque information of the slave operating platform according to the first relationship and the system dynamics model of the master operating platform; Through the impedance control mode, a first force control signal is generated based on the driving torque controlled by the master operation platform itself, the first driving torque, and the second driving torque, and the first force control signal is used to control the parameters of the driving torque of the master operation platform.

4. The bilateral force feedback method according to claim 2 or 3, wherein, the method further includes: determining one of the admittance control mode and the impedance control mode as the first control mode according to the working condition of the master operation platform.

5. The bilateral force feedback method according to claim 4, wherein, the determining one of the admittance control mode and the impedance control mode as the first control mode according to the working condition of the master operation platform includes: when the master operation platform includes a joint position servo controller, determining the admittance control mode as the first control mode; when the master operation platform includes a joint force servo controller, determining the impedance control mode as the first control mode; or, when the accuracy of the torque information controlled by the master operation platform itself is not greater than a first threshold, determining the admittance control mode as the first control mode; when the accuracy of the torque information controlled by the master operation platform itself is greater than the first threshold, determining the impedance control mode as the first control mode; or, when the movement speed of the master operation platform exceeds a second threshold, determining the admittance control mode as the first control mode; when the movement speed of the master operation platform does not exceed the second threshold, determining the impedance control mode as the first control mode; or, when the master operation platform collides with a first external environment, determining the impedance control mode as the first control mode.

6. The bilateral force feedback method according to any one of claims 1 to 3, wherein, the method further includes: acquiring second information, where the second information includes at least one of the movement information and torque information of the master operation platform in response to the first information, and at least one of the movement information and torque information controlled by the slave operation platform itself; generating a second control signal corresponding to the second information according to a second relationship, where the second relationship is a second-order relationship corrected by the movement information and torque information when the slave operation platform acts on a second external environment; controlling the slave operation platform to perform a movement corresponding to the second information according to the second control signal.

7. For the bilateral force feedback method according to claim 6, where the second control mode adopted by the system controller is the admittance control mode, wherein, the acquiring the second information includes: acquiring the movement information controlled by the slave operation platform itself, the movement information and torque information of the master operation platform in response to the first information; the generating a second control signal corresponding to the second information according to the second relationship includes: Generate the position control quantity of the slave operation platform controlled by itself corresponding to the motion information controlled by the slave operation platform itself according to the second relationship, generate the third equivalent joint position control quantity corresponding to the motion information of the master operation platform in response to the first information according to the second relationship, and generate the fourth equivalent joint position control quantity corresponding to the torque information of the master operation platform in response to the first information according to the second relationship; Through the admittance control mode, generate a second motion control signal based on the position control quantity of the slave operation platform controlled by itself, the third equivalent joint position control quantity, and the fourth equivalent joint position control quantity, and the second motion control signal is used to control the parameters of the desired joint position of the slave operation platform.

8. The bilateral force feedback method according to claim 6, wherein the second control mode adopted by the system controller is an impedance control mode, characterized in that the collecting the second information includes: collect the torque information of the slave operation platform controlled by itself, the motion information and torque information of the master operation platform in response to the first information; the generating the second control signal corresponding to the second information according to the second relationship includes: generate the driving torque of the slave operation platform controlled by itself corresponding to the torque information of the slave operation platform controlled by itself according to the second relationship and the system dynamics model of the slave operation platform; generate the third driving torque corresponding to the motion information of the master operation platform in response to the first information according to the second relationship and the system dynamics model of the slave operation platform; generate the fourth driving torque corresponding to the torque information of the master operation platform in response to the first information according to the second relationship and the system dynamics model of the slave operation platform; Through the impedance control mode, generate a second force control signal based on the driving torque of the slave operation platform controlled by itself, the third driving torque, and the fourth driving torque, and the second force control signal is used to control the parameters of the driving torque of the slave operation platform.

9. The bilateral force feedback method according to claim 7 or 8, characterized in that the method further includes: determine one of the admittance control mode and the impedance control mode as the second control mode according to the working condition of the slave operation platform.

10. The bilateral force feedback method according to claim 9, characterized in that the determining one of the admittance control mode and the impedance control mode as the second control mode according to the working condition of the slave operation platform includes: when the slave operation platform includes a joint position servo controller, determine the admittance control mode as the second control mode; when the slave operation platform includes a joint force servo controller, determine the impedance control mode as the second control mode; Or, When the accuracy of the torque information controlled by itself in the slave operation platform is not greater than the first threshold, determine the admittance control mode as the second control mode; when the accuracy of the torque information controlled by itself in the slave operation platform is greater than the first threshold, determine the impedance control mode as the second control mode; Or, When the movement speed of the slave operation platform exceeds the second threshold, determine the admittance control mode as the second control mode; when the movement speed of the slave operation platform does not exceed the second threshold, determine the impedance control mode as the second control mode; Or, When the slave operation platform collides with the first external environment, determine the impedance control mode as the second control mode; Or, When the stiffness of the object in contact with the slave operation platform exceeds the third threshold, determine the impedance control mode as the second control mode.

11. A bilateral force feedback device, which has communication connections with both the first operation platform and the second operation platform of a bilateral teleoperation system. The first operation platform is the master operation platform, and the second operation platform is the slave operation platform, Characterized in that, The device includes: An acquisition module for acquiring first information, where the first information includes at least one of the movement information and torque information of the slave operation platform, and at least one of the movement information and torque information controlled by the master operation platform itself; A generation module for generating a first control signal corresponding to the first information according to a first relationship, where the first relationship is a second-order relationship corrected by the movement information and torque information when the master operation platform acts on the first external environment; A control module for controlling the master operation platform to execute a movement corresponding to the first information according to the first control signal.

12. A computer device, Characterized in that, The computer device includes a processor and a memory, and at least one program code is stored in the memory. The program code is loaded and executed by the processor to implement the bilateral force feedback method according to any one of claims 1 to 10.

13. A computer-readable storage medium, Characterized in that, Executable instructions are stored in the computer-readable storage medium, and the executable instructions are loaded and executed by a processor to implement the bilateral force feedback method according to any one of claims 1 to 10.

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