Robot remote control operating system and method

Abstract

This application provides a robot remote control operating system, including a master robot, a slave robot, and a control system. The control system is configured to cause the slave robot to move in accordance with the movement of the master robot. The control system is further configured to determine a coefficient K and, based on the displacement difference between a reference point on the master robot and a selected point on the slave robot corresponding to the reference point, and the coefficient K, determine the control force F output by the slave robot at the selected point.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot remote control operating system and method. Background Technology

[0002] With the development of technology, robots are widely used in various fields and come in different types and structures. For example, articulated robots have multiple rotatable joints to achieve movement within a certain spatial range.

[0003] Robot control can be achieved through manual remote control. In one implementation, remote-controlled robots require a master robot operated by a human and a slave robot configured to follow the master robot's movements. In one application scenario, the robot is remotely controlled and its movements are taught by a human, and the data generated during the teaching process is used for programming. The teaching results can generate subsequent automatic operation instructions for the robot. In another application scenario, for work environments where robots are difficult to operate automatically or where programming is extremely complex, remote-controlled robots can assist the robot in performing corresponding tasks in that environment.

[0004] In existing remote-controlled robot technologies, communication issues or environmental factors may lead to unexpected movements of the robot or over-driving by the operator, resulting in excessive contact forces between the robot and the workpiece or obstacle, which may damage the workpiece or robot. Summary of the Invention

[0005] Therefore, it is necessary to provide a robot remote control operating system, method, computer device, and storage medium to address the aforementioned technical problems.

[0006] This application provides a robot remote control operating system, including a master robot, a slave robot, and a control system. The control system is configured to cause the slave robot to move in accordance with the movement of the master robot. The control system is further configured to: determine a coefficient K, and determine the control force F output by the slave robot at the selected point based on the displacement difference between a reference point on the master robot and a selected point on the slave robot corresponding to the reference point, and the coefficient K.

[0007] In one embodiment, the control system is configured such that a portion of the control force F is determined by a certain coefficient K. ext Less than or equal to a predetermined threshold F lim , of which F ext This includes the portion of the control force used to balance the contact force with external objects, and / or the portion of the control force used to drive the slave robot to follow the master robot's motion.

[0008] In one embodiment, when a portion of the control force F... extLess than the predetermined threshold F lim When, the coefficient K remains at the preset value K0; when a portion of the control force F is F ext Reaching the predetermined threshold F lim At that time, the adjustment coefficient K is started so that a portion of the control force F is adjusted. ext Less than or equal to a predetermined threshold F lim .

[0009] In one embodiment, the control system is further configured such that: when a portion of the control force F... ext Reaching the predetermined threshold F lim At that time, based on the change in displacement difference, the adjustment coefficient K makes a portion of the control force F... ext Less than or equal to a predetermined threshold F lim .

[0010] In one embodiment, the control system is configured to establish a virtual impedance control relationship between the master robot and the slave robot, and determine the control force F based on the following conditions:

[0011]

[0012] in, This is based on the robot's mass inertia matrix at a selected point, derived from the robot's dynamics model. This is based on the centrifugal force and Coriolis force matrix of the robot at a selected point, derived from the robot's dynamics model. For the robot's gravity matrix at a selected point, based on the robot's dynamics model, x d Let x be the displacement of the reference point, and x be the displacement of the selected point. For x d The first derivative, Let x be the first derivative. Let x be the second derivative of x, and D be the virtual damping coefficient;

[0013] A portion of the control force F ext Calculated using the following formula:

[0014]

[0015] Where, x e For x d The difference between x and for and The difference, For x d The difference between the second derivative of x and the second derivative of x.

[0016] In one embodiment, the control system is further configured such that: when a portion of the control force F...ext Less than the predetermined threshold F lim When, the coefficient K is kept at the preset value K0; and when a portion of the control force F is F ext Reaching the predetermined threshold F lim When the coefficient K is determined, it shall be calculated according to one of the following formulas:

[0017]

[0018] or

[0019]

[0020] Among them, F ext (K0) represents the F calculated when the coefficient K equals K0. ext The value of .

[0021] In one embodiment, the control system is further configured to calculate a coefficient K based on the following formula when the robot is in a static state:

[0022]

[0023] In one embodiment, the control system is further configured to be based on a portion of the control force F. ext The drive unit that controls the main robot provides tactile feedback to the operator who operates the main robot.

[0024] In one embodiment, the selected point is located on the slave end effector of the slave robot, and the reference point is located on the master end effector of the master robot.

[0025] In one embodiment, the control system is configured to continuously calculate and adjust the control force F at a predetermined frequency.

[0026] Another aspect of this application provides a method for remotely controlling a robot, comprising: acquiring the displacement of a selected point on a master robot and the displacement of a selected point on a slave robot corresponding to a reference point; and determining a coefficient K, and determining a control force F output by the slave robot at the selected point based on the displacement difference between the displacement of the reference point and the displacement of the selected point and the coefficient K.

[0027] In one embodiment, determining the control force F output from the robot at a selected point includes determining a coefficient K such that a portion of the control force F... ext Less than or equal to a predetermined threshold F lim, , of which F ext This includes the portion of the control force used to balance the contact force with external objects, and / or the portion of the control force used to drive the slave robot to follow the master robot's motion.

[0028] In one embodiment, determining the control force F output from the robot at a selected point includes: when a portion of the control force F is F0 ext Less than the predetermined threshold F lim When, the coefficient K is kept at the preset value K0; and when a portion of the control force F is F ext Reaching the predetermined threshold F lim At that time, the adjustment coefficient K is started so that a portion of the control force F is adjusted. ext Less than or equal to a predetermined threshold F lim .

[0029] In one embodiment, when a portion of the control force F... ext Reaching the predetermined threshold F lim At that time, the adjustment coefficient K is started so that a portion of the control force F is adjusted. ext Less than or equal to a predetermined threshold F lim This includes: the adjustment coefficient K based on the change in displacement difference.

[0030] In one embodiment, determining the control force F output by the robot at a selected point includes establishing a virtual impedance control relationship between the master robot and the slave robot, and determining the control force F based on the following conditions:

[0031]

[0032] in, This is based on the robot's mass inertia matrix at a selected point, derived from the robot's dynamics model. This is based on the centrifugal force and Coriolis force matrix of the robot at a selected point, derived from the robot's dynamics model. For the robot's gravity matrix at a selected point, based on the robot's dynamics model, x d Let x be the displacement of the reference point, and x be the displacement of the selected point. For x d The first derivative, Let x be the first derivative. Let x be the second derivative of x, and D be the virtual damping coefficient;

[0033] A portion of the control force F ext Calculated using the following formula:

[0034]

[0035] Where, x e For x d The difference between x and for and The difference, For x dThe difference between the second derivative of x and the second derivative of x.

[0036] In one embodiment, the determination coefficient K makes a portion of the control force F... ext Less than or equal to a predetermined threshold F lim Includes: when a portion of the control force F is F ext Less than the predetermined threshold F lim When, the coefficient K remains at the preset value K0; and when a portion of the control force F is F ext Reaching the predetermined threshold F lim When the coefficient K is used, it is determined by one of the following formulas:

[0037]

[0038] or

[0039]

[0040] Among them, F ext (K0) represents the F calculated when the coefficient K equals K0. ext The value of .

[0041] In one embodiment, when a portion of the control force F... ext Reaching the predetermined threshold F lim At that time, the adjustment coefficient K is started so that a portion of the control force F is adjusted. ext Less than or equal to a predetermined threshold F lim This includes: calculating the coefficient K based on the following formula when the robot is in a static state:

[0042]

[0043] In one embodiment, the method further includes based on a portion of the control force F. ext The drive mechanism controls the main robot to provide tactile feedback to the operator who operates the main robot.

[0044] In one embodiment, the selected point is located on the slave end effector of the slave robot, and the reference point is located on the master end effector of the master robot.

[0045] In one embodiment, the method further includes continuously calculating and adjusting the control force F at a predetermined frequency.

[0046] In another aspect, this application provides a computer device including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method based on any of the above embodiments.

[0047] In another aspect, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method based on any of the above embodiments.

[0048] Details of one or more embodiments of the present invention are set forth in the following drawings and description. Other features, objects, and advantages of the invention will become apparent from the specification, drawings, and claims. Attached Figure Description

[0049] The present application and its other features will be more readily understood from the following detailed description of various aspects thereof, taken in conjunction with the accompanying drawings describing various embodiments of the present application.

[0050] Figure 1 This is a schematic diagram of a robot remote control operating system according to an embodiment of this application;

[0051] Figure 2 This is an architecture diagram of a robot remote control operating system according to an embodiment of this application;

[0052] Figure 3 for Figure 1 A schematic diagram of a robot remote control operating system in the embodiment shown when a displacement deviation occurs between a selected point and a reference point.

[0053] Figure 4 This is a flowchart of a robot remote control operation method according to an embodiment of this application;

[0054] Figure 5 This is an internal structural diagram of a computer device according to an embodiment of this application. Detailed Implementation

[0055] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0056] This application provides a robot remote control operating system, including a master robot, a slave robot, and a control system. The control system is configured to cause the slave robot to move in accordance with the movement of the master robot. The control system is also configured to determine a coefficient K and, based on the difference between the displacement of a reference point on the master robot and the displacement of a selected point on the slave robot corresponding to the reference point, and the coefficient K, determine a control force F applied to the selected point.

[0057] According to the robot remote control operating system of this application, reference points and selected points are set at corresponding positions on the master robot and the slave robot, and the control force F output by the slave robot at the selected point is determined based on the displacement difference between the selected point and the reference point and the coefficient K. In some application scenarios, this can prevent damage to the slave robot's components or external objects such as workpieces or obstacles due to excessive control force.

[0058] Figure 1 This is a schematic diagram of a robot remote control operating system according to one embodiment of this application. Figure 2 This is an architecture diagram of a robot remote control operating system according to an embodiment of this application. (See reference...) Figure 1 and Figure 2 The robot remote control operating system 10 includes a master robot 20, a slave robot 30, and a control system 40 that is communicatively connected to the master robot 20 and the slave robot 30. The control system 40 can be the master robot 20's or slave robot 30's own control system, or it can be an independent control system different from the robot's own control system. Structurally, the control system 40 can be located inside the master robot 20 or the slave robot 30, or it can achieve remote control independently of the master robot 20 and the slave robot 30.

[0059] The master robot 20 and the slave robot 30 can adopt the same structure. Taking the slave robot 30 as an example, it includes a slave end effector 31 and multiple arms 32 connected end-to-end, with the end effector 31 located at the end of the arms 32. Joints 33 are formed between adjacent arms 32 and between arms 32 and the slave end effector 31. Each joint 33 is equipped with a drive device 34, such as a motor, to drive the arm 32 or the slave end effector 31. Multiple joints 33 can ensure multi-degree-of-freedom movement of the slave end effector 31.

[0060] In one embodiment, the control system 40 is configured with a deterministic coefficient K such that a portion of the control force F is F ext Less than or equal to a predetermined threshold F lim , of which F ext This includes the portion of the control force F used to balance the contact force with an external object and / or the portion of the control force F used to drive the slave robot 30 to follow the movement of the master robot 20.

[0061] In one embodiment, the control system 40 is configured such that when a portion of the control force F is... ext Less than the predetermined threshold F lim At that time, the coefficient K remains at the preset value K0, and when a portion of the control force F is F ext Reaching the predetermined threshold F lim At that time, the adjustment coefficient K is started so that a portion of the control force F is adjusted. ext Less than or equal to a predetermined threshold Flim .

[0062] In one embodiment, the control system 40 is further configured such that when a portion of the control force F is... ext Reaching the predetermined threshold F lim At that time, based on the change adjustment coefficient K of the displacement difference, a portion of the control force F is adjusted. ext Less than or equal to a predetermined threshold F lim .

[0063] In one embodiment, the control system 40 provides a virtual mechanical-impedance system 50 between the master robot 20 and the slave robot 30, used to control the slave robot 30 through the master robot 20, thereby assisting in remote control operation of the slave robot 30. It should be noted that this virtual mechanical-impedance system 50 is not an actual hardware structure, but rather a computer-executed control model. This control model is only logically similar to a real mechanical-impedance system and is used in this application to calculate and determine the forces and torques applied to the slave robot 30. When the master robot 20 moves under the manual control of the operator, the control system 40 is configured to cause the slave robot 30 to follow the movement of the master robot 20. Specifically, the control system 40 generates commands to control the movement of the slave robot 30 based on relevant parameters generated by the movement of the master robot 20, and combines these commands with the virtual mechanical-impedance system 50, and controls the movement of the slave robot 30 based on these commands, i.e., maintaining the same posture and position as the master robot 20.

[0064] It is understandable that the virtual mechanical-impedance system 50 can be provided in advance in the control system 40, or the virtual mechanical-impedance system 50 can be established and adjusted in real time based on the corresponding parameters during remote operation.

[0065] In this embodiment, the reference point and the selected point are selected as corresponding points on the master end effector 21 of the master robot 20 and the slave end effector 31 of the slave robot 30. It is understood that in other embodiments, the reference point and the selected point can be set on other parts of the robot as needed. The application of the virtual mechanical-impedance system 50 of this application will be described in detail below with reference to embodiments.

[0066] The dynamic equations of the end effector 31 in Cartesian space are as follows:

[0067]

[0068] Where x is the displacement from the end effector 31 (usually using the tool center point TCP as a reference), Let x be the second derivative of x, and Λ(x) be the mass inertia matrix of robot 30 based on the selected point (usually the Cartesian space mass inertia matrix), that is, the mass inertia matrix of robot 30 when the selected point is the origin of the body coordinate system. Let x be the first derivative. p(x) is the calculation matrix of centrifugal force and Coriolis force of robot 30 based on selected point, p(x) is the calculation matrix of gravity of robot 30 based on selected point, and F is the control force controlling the movement of end effector 31.

[0069] It should be understood that when the secondary robot does not follow the movement of the primary robot, F ext This represents the equivalent external force experienced by the end effector when the robot comes into contact with an external object. When the end effector 31 moves in space, whether it touches a workpiece or an obstacle, an external force is generated on the end effector 31, which is the contact force between the end effector 31 and the workpiece or obstacle. If this external force is too large, it may damage the end effector 31, the workpiece, or the obstacle. Therefore, it is necessary to control the control force of the end effector 31 to keep the external force experienced by the end effector 31 within a safe range.

[0070] It is understood that the control force or external force described in this application as "at a selected point" or "on a selected point" means the equivalent effect of the control force or external force output from the robot at that selected point.

[0071] In some embodiments, to implement the virtual mechanical-impedance control system 50, the control system 40 is further configured to dynamically determine a coefficient K, and to determine a control force F based on the coefficient K and the displacement difference between the master end effector and the slave end effector. In one embodiment, the control system 40 actively configures the control force such that:

[0072]

[0073] in, This is based on the mass inertia matrix of robot 30 at a selected point, derived from the robot's dynamics model. This is based on the centrifugal force and Coriolis force matrix at a selected point in the robot's dynamics model. For the robot 30 based on the gravity matrix at a selected point, based on the robot dynamics model, x d Let x be the displacement of the reference point, and x be the displacement of the selected point. For x d The first derivative, Let x be the first derivative. Let x be the second derivative of x, and D be the virtual damping coefficient.

[0074] It is understood that in some embodiments, the coefficients K and the virtual damping coefficients D can be coefficient matrices in Cartesian space.

[0075] Since theoretically, the selected point is expected to perfectly follow the movement of the reference point, the displacement x of the reference point... d This is also the expected displacement of the selected point. The displacement x of the selected point and the displacement x of the reference point. d Displacement values ​​can be measured using various displacement sensors. Alternatively, they can be obtained from other control parameters; for example, the rotational displacement of each joint of the robot can be calculated based on the encoder data of the drive unit's motor, and then the displacement value of the robot's end effector can be obtained based on the robot's kinematic relationships. The control system 40 is configured to, for example, acquire the displacement x of a selected point and the displacement x of a reference point from the displacement sensors described above. d In one embodiment, the selected point displacement x and the reference point displacement x d These are vector parameters that involve the distance and orientation of movement, representing the position and orientation of the master end effector 21 and the slave end effector 31.

[0076] The component K(x) in equation (2) d -x) is equivalent to the virtual spring 51 in the virtual mechanical-resistance system 50, where K can be called the virtual spring coefficient. As the deformation of this virtual spring increases, the elastic force generated by the virtual spring also increases accordingly. Component This is equivalent to the virtual damper 52 in the virtual mechanical-impedance system 50. During the initial operation of the system, both coefficients K and D can be assigned initial values, which are adjusted according to control requirements.

[0077] According to equations 1 and 2, we can obtain:

[0078]

[0079] Where x e Displacement difference (x) d -x), for and The difference, For x d The difference between the second derivative of x and the second derivative of x.

[0080] After introducing the virtual mechanical-impedance system, F is calculated according to formula (3). ext The force consists of two parts that produce an equivalent force at a selected point on the robot: the part of the control force F used to balance the contact force with the external object, and the part of the control force F used to drive the slave robot 30 to follow the movement of the master robot.

[0081] In one embodiment, the control system 40 is further configured to base on the displacement difference x. e The change adjustment coefficient K makes F ext Less than or equal to a predetermined threshold F lim .

[0082] Combination Figure 3 When the master end effector 21 is in a state of uniform motion, while the slave end effector 31 is in contact with an external object and is in a static state, Let C be a constant. When the value of is zero, we obtain the following equation:

[0083] F ext =Kx e +C (4)

[0084] When the master end effector 21 and the slave end effector 31 further reach a steady state, that is, when they are both stationary or moving at a synchronous uniform speed, The value is zero, at which point:

[0085] F ext =Kx e (5)

[0086] It is evident that in these cases, F can be adjusted by changing the coefficient K. ext Less than or equal to a predetermined threshold F lim This ensures that the end effector 31 and external objects such as workpieces or obstacles are not damaged.

[0087] In one embodiment, in F ext Reaching threshold F lim Previously, the coefficient K in the virtual mechanical-resistance system was kept constant at its initial value K.0. When the end effector 31 initially contacts the external object, it stops moving due to obstruction, and therefore, with the displacement x of the reference point… d As the displacement difference x gradually increases, e It also gradually increases. According to equation (3), the control force F continues to increase at this time. During this process, F can be continuously calculated or monitored. ext For example, F can be detected by a contact force / torque sensor located on the end effector 31, or obtained by measuring the joint torque or by the above formula (3). ext .

[0088] When F ext When a predetermined threshold is reached, the coefficient K is adjusted based on the change in displacement difference to maintain F. ext Maintain at or below the threshold. For example, in this process, closed-loop control is used, with the displacement difference x... eThe continued rise of the coefficient K leads to a continuous downward adjustment, effectively making the virtual spring gradually "softer." Here, K and F... ext The closed-loop control method can be implemented using conventional methods, which will not be elaborated in this application.

[0089] It is understood that the description of "less than or equal to a certain threshold" in this application refers to the ability to ensure the external force F under normal circumstances. ext Less than or equal to the threshold, but not excluding F ext Situations exceeding the threshold may occur briefly or incidentally. For example, F may occur due to communication or computation delays. ext The case of oscillation at the threshold.

[0090] The end effector 31 may also come into dynamic contact with an external object, meaning that during the contact process, the end effector 31 is in a changing state of motion. In this dynamic situation, according to equation (3), at this time... and The value of F is not zero, but it can still be controlled by adjusting the coefficient K. ext For example, in one scenario, the control force F increases rapidly within a short period, causing a significant acceleration in the end effector 31, thus generating a large dynamic external force on the end effector 31. In this case, by adjusting the coefficient K, the control force F can also be controlled. ext Control, such as keeping it below a threshold.

[0091] In one embodiment, the coefficient K is kept constant at K0. Therefore, according to formula (3), we can obtain:

[0092]

[0093] Among them, F ext (K0) represents the value of Fext obtained with K0 as the coefficient.

[0094] Understandably, in F ext Reaching threshold F lim Previously, F ext (K0) represents the true F ext It is used to balance the contact forces with external objects and to drive the robot 30 to follow the movement of the master robot 20; while in F ext (K0) is greater than F lim At this time, F ext (K0) is only a hypothetical value used to calculate the actual coefficient K required in the actual control process.

[0095] In one embodiment, in F ext Reaching F lim At that time, take F ext Stable at Flim The strategy is such that the coefficient K satisfies the following formula (7):

[0096]

[0097] This yields the following formula (8):

[0098]

[0099] At the same time, according to formulas (6) and (7), the following formula (9) can be obtained:

[0100]

[0101] It can be seen that, when the end effector 31 is in a dynamic state, the coefficient K can be determined by formula (8) or formula (9) so that F ext Maintain at the predetermined threshold F lim When the end effector 31 is in a static state, equation (9) can be simplified to:

[0102]

[0103] That is, when the end effector 31 is in a static state, the coefficient K can be determined by formula (10) so that F ext Equal to the predetermined threshold F lim .

[0104] According to the embodiments described above, in F ext Reaching F lim Previously, an initial coefficient K0 was used to adjust the control force F. When F ext Reaching F lim At that time, the adjustment coefficient K is based on formulas (8) and (9) to make F ext It can be stable at F lim It is understood that, in another embodiment, the coefficient K can be determined directly based on formulas (8) and (9) throughout the process. The control logic is to maintain F from the beginning. ext Maintain at F lim It depends on the location, rather than on the change in displacement difference.

[0105] In one embodiment, the control system 40 is configured to be based on F extThe drive mechanism of the master robot 20 is controlled to provide tactile feedback to the operator. When a component of the slave robot 30, such as the slave end effector 31, comes into contact with an external object, an external force is generated on the slave end effector 31. This external force can be detected by a force sensor located at the end of the slave end effector 31 or calculated by joint torque. The control system 40 is configured to feed this external force back to the operator, allowing the operator to intuitively feel the presence and changes of the external force when operating the master robot 20, such as the master end effector 21 of the master robot 20, and thus adjust the operation of the master robot 20 accordingly. For example, when the operator feels that the external force is too large, the movement speed of the master robot 20 can be reduced, or the operation of the master robot 20 can be stopped, thereby preventing accidents such as damage. In addition, when the displacement difference between the slave robot 30 and the master robot 20 is large, according to the F mentioned above... ext The calculation method also allows the operator to intuitively feel the inertial force that the robot 30 overcomes in order to follow the movement of the main robot 20, and thus adjust the operation accordingly (e.g., slow down the movement of the main robot 20).

[0106] In some embodiments, the control force F acting on the end effector 31 includes a combined driving force on the end effector 31 generated by the drive mechanism of at least one joint. In another embodiment, the control force F includes a force generated by the drive mechanism that directly drives the end effector 31.

[0107] In some embodiments, the control system 40 is configured to continuously calculate and adjust the control force F at a predetermined frequency. The higher the predetermined frequency, the better the response of the slave robot 30 to the motion of the master robot 20, and the more precise the control force F.

[0108] According to one embodiment described above, the control system 40 configures the control force F according to equation (2), i.e., the control force F includes a virtual spring component and a virtual damper component. It is understood that in other embodiments, the control force F may include only the virtual spring component, or a combination of the virtual spring component and other components, which can similarly achieve control of the force F received from the robot 31 by adjusting the coefficient K. ext .

[0109] This application also provides a method for remotely controlling a robot. Based on the above description of the remote control operating system according to various embodiments of this application, the method for remotely controlling a robot will be described below.

[0110] like Figure 4 As shown, the robot remote control operation method of this application includes:

[0111] S1: Obtain the displacement of the reference point on the main robot and the displacement of the selected point on the robot corresponding to the reference point; and

[0112] S2: Determine the coefficient K, based on the displacement difference between the reference point on the master robot and the selected point on the slave robot, and determine the control force F output by the slave robot at the selected point.

[0113] In one embodiment, determining the control force F output from robot 30 at a selected point includes determining a coefficient K such that a portion of the control force F is equal to the control force F. ext Less than or equal to a predetermined threshold F lim Among them, F ext This includes the portion of the control force F used to balance the contact force with external objects and / or the portion of the control force F used to drive the slave robot 30 to follow the movement of the master robot 20.

[0114] In one embodiment, determining the control force F output from robot 30 at a selected point includes when a portion of the control force F is... ext Less than the predetermined threshold F lim At that time, the coefficient K is kept at the preset value K0, and when a part of the control force F is F ext Reaching the predetermined threshold F lim At that time, the adjustment coefficient K is started so that a portion of the control force F is adjusted. ext Less than or equal to a predetermined threshold F lim .

[0115] In one embodiment, when a portion of the control force F... ext Reaching the predetermined threshold F lim At that time, the adjustment coefficient K is started so that a portion of the control force F is adjusted. ext Less than or equal to a predetermined threshold F lim This includes an adjustment coefficient K based on the change in displacement difference.

[0116] In one embodiment, determining the control force F output from the robot at a selected point includes establishing a virtual impedance control relationship between the master robot 20 and the slave robot 30, determining the control force F based on the above formula (2), and obtaining F based on formula (3). ext .

[0117] In one embodiment, the determination coefficient K makes a portion of the control force F... ext Less than or equal to a predetermined threshold F lim Includes: when a portion of the control force F is F ext Less than the predetermined threshold F lim When, the coefficient K remains at the preset value K0; when a portion of the control force F is F ext Reaching the predetermined threshold F lim When the coefficient K is determined, it is based on formula (8) or formula (9).

[0118] In one embodiment, when robot 30 is in a static state, the coefficient K is determined according to formula (10).

[0119] In one embodiment, the method further includes F-based ext The drive unit controls the main robot 30 to provide tactile feedback to the operator.

[0120] In one embodiment, the selected point is located on the slave end effector 31 of the slave robot 30, and the reference point is located on the master end effector 21 of the master robot 20.

[0121] In one embodiment, the control force F includes a combined driving force generated from the drive mechanism of at least one joint of the robot 30 acting on the end effector 31.

[0122] In one embodiment, the method further includes continuously calculating and adjusting the control force F at a predetermined frequency.

[0123] This application also provides a computer device, which can be the control system 40 described above, and its internal structure diagram can be as shown in the figure. Figure 5 As shown. The computer device includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements the steps of the robot remote control operation method described above, which includes:

[0124] S1: Obtain the displacement of the reference point on the main robot and the displacement of the selected point on the robot corresponding to the reference point; and

[0125] S2: Determine the coefficient K, based on the displacement difference between the displacement of the reference point and the displacement of the selected point, and determine the control force F output from the robot at the selected point.

[0126] In other embodiments, other method steps that may be implemented when the computer program is executed by the processor, as well as further features of the method steps, can be found in the robot remote control operation methods according to the various embodiments described above, and will not be repeated here.

[0127] Those skilled in the art will understand that Figure 5The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0128] This application also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the method for remote control operation of a robot in the above embodiments, the method comprising:

[0129] S1: Obtain the displacement of the reference point on the main robot and the displacement of the selected point on the robot corresponding to the reference point; and

[0130] S2: Determine the coefficient K, based on the displacement difference between the displacement of the reference point and the displacement of the selected point, and determine the control force F output from the robot at the selected point.

[0131] In other embodiments, other method steps that may be implemented when the computer program is executed by the processor, as well as further features of the method steps, can be found in the robot remote control operation methods according to the various embodiments described above, and will not be repeated here.

[0132] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0133] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0134] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A robot remote control operating system, characterized in that, include: Main robot; From robots; as well as The control system is configured to cause the slave robot to move in accordance with the movement of the master robot. The control system is further configured as follows: Determine coefficient K; and determine the control force F output by the slave robot at the selected point based on the displacement difference between a reference point on the master robot and a selected point on the slave robot corresponding to the reference point, and the coefficient K; The control system is configured to determine the coefficient K such that a portion of the control force F is F ext Less than or equal to a predetermined threshold F lim , Wherein, the F ext This includes the portion of the control force used for balancing the contact force with an external object, and / or the portion of the control force used for driving the slave robot to follow the movement of the master robot; The control system is further configured as follows: When a portion of the control force F is F ext Less than the predetermined threshold F lim At that time, the coefficient K remains at a preset value K0; and When a portion of the control force F is F ext Reaching the predetermined threshold F lim At that time, the coefficient K is adjusted based on the change in the displacement difference, so that a portion of the control force F is... ext Less than or equal to the predetermined threshold F lim .

2. The system according to claim 1, characterized in that, The control system is configured to establish a virtual impedance control relationship between the master robot and the slave robot, and to determine the control force F based on the following conditions: in, The mass inertia matrix of the slave robot at the selected point is based on the slave robot's dynamics model. The centrifugal force and Coriolis force matrix of the slave robot at the selected point is based on the slave robot's dynamics model. x is the gravity matrix of the slave robot at the selected point, based on the slave robot's dynamics model. d Let x be the displacement of the reference point, and let x be the displacement of the selected point. For x d The first derivative, Let x be the first derivative. Let x be the second derivative of x, and D be the virtual damping coefficient; A portion of the control force F ext Calculated using the following formula: Where, x e For x d The difference between x and for and The difference, For x d The difference between the second derivative of x and the second derivative of x.

3. The system according to claim 2, characterized in that, The control system shown is further configured as follows: When a portion of the control force F is F ext Less than the predetermined threshold F lim At that time, the coefficient K is kept at a preset value K0; as well as When a portion of the control force F is F ext Reaching the predetermined threshold F lim When the coefficient K is determined, it shall be calculated according to one of the following formulas: or Among them, F ext (K0) represents the F calculated when the coefficient K equals K0. ext The value of .

4. The system according to claim 3, characterized in that, The control system shown is further configured as follows: When the robot is in a static state, the coefficient K is calculated based on the following formula: 。 5. The system according to claim 1, characterized in that, The control system is further configured to be based on a portion of the control force F. ext The drive device controlling the main robot provides tactile feedback to the operator operating the main robot.

6. The system according to claim 1, characterized in that, The selected point is located on the slave end effector of the slave robot, and the reference point is located on the master end effector of the master robot.

7. The system according to claim 1, characterized in that, The control system is configured to continuously calculate and adjust the control force F at a predetermined frequency.

8. A method for remotely controlling a robot, characterized in that, include: Obtain the displacement of a reference point on the main robot and the displacement of a selected point on the robot corresponding to the reference point; as well as Determine the coefficient K, and determine the control force F output from the robot at the selected point based on the displacement difference between the displacement of the reference point and the displacement of the selected point, and the coefficient K. Determining the control force F output from the robot at the selected point includes determining the coefficient K such that a portion of the control force F... ext Less than or equal to a predetermined threshold F lim , Wherein, the F ext This includes the portion of the control force used for balancing the contact force with an external object, and / or the portion of the control force used for driving the slave robot to follow the movement of the master robot; Determining the control force F output from the robot at the selected point includes: When a portion of the control force F is F ext Less than the predetermined threshold F lim At that time, the coefficient K is maintained at a preset value K0; and When a portion of the control force F is F ext Reaching the predetermined threshold F lim At that time, the coefficient K is adjusted based on the change in the displacement difference, so that a portion of the control force F is adjusted accordingly. ext Less than or equal to the predetermined threshold F lim .

9. The method according to claim 8, characterized in that, Determining the control force F output by the slave robot at the selected point includes establishing a virtual impedance control relationship between the master robot and the slave robot, and determining the control force F based on the following conditions: in, The mass inertia matrix of the slave robot at the selected point is based on the slave robot's dynamics model. The centrifugal force and Coriolis force matrix of the slave robot at the selected point is based on the slave robot's dynamics model. x is the gravity matrix of the slave robot at the selected point, based on the slave robot's dynamics model. d Let x be the displacement of the reference point, and let x be the displacement of the selected point. For x d The first derivative, Let x be the first derivative. Let x be the second derivative of x, and D be the virtual damping coefficient; A portion of the control force F ext Calculated using the following formula: Where, x e For x d The difference between x and for and The difference, For x d The difference between the second derivative of x and the second derivative of x.

10. The method according to claim 9, characterized in that, The determination of the coefficient K makes a portion of the control force F... ext Less than or equal to a predetermined threshold F lim include: When a portion of the control force F is F ext Less than the predetermined threshold F lim At that time, the coefficient K remains at a preset value K0; and When a portion of the control force F is F ext Reaching the predetermined threshold F lim When the coefficient K is used, it is determined by one of the following formulas: or Among them, F ext (K0) represents the F calculated when the coefficient K equals K0. ext The value of .

11. The method according to claim 10, characterized in that, When a portion of the control force F is F ext Reaching the predetermined threshold F lim At that time, the coefficient K is adjusted so that a portion of the control force F is... ext Less than or equal to the predetermined threshold F lim include: When the robot is in a static state, the coefficient K is calculated based on the following formula: 。 12. The method according to claim 8, characterized in that, Further including a portion of the control force F. ext The drive mechanism of the main robot is controlled to provide tactile feedback to the operator operating the main robot.

13. The method according to claim 8, characterized in that, The selected point is located on the slave end effector of the slave robot, and the reference point is located on the master end effector of the master robot.

14. The method according to claim 8, characterized in that, It further includes continuously calculating and adjusting the control force F at a predetermined frequency.

15. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the computer program is executed by the processor, it causes the processor to perform the steps of the method according to any one of claims 8 to 14.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 8 to 14.

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