A mobile manipulator teleoperation method based on adaptive switching

Abstract

This invention discloses a teleoperation method for a mobile robotic arm based on adaptive switching. A master-slave mobile robotic arm system is established; a hybrid asymmetric mapping model is established, inputting the end-effector position of the master device and outputting adaptive switching coefficients and motion commands from the slave device to control the movement state and movement of the slave device respectively; a force feedback matching model is established, inputting virtual guidance force feedback in the movement state and force feedback in the operation state, outputting teleoperation feedback force to continue remotely controlling the slave device until the target object is grasped, thus realizing the teleoperation of the mobile robotic arm. This invention provides a more intuitive and user-friendly teleoperation method that simultaneously manipulates the movement of the slave mobile platform and the robotic arm through a single master force feedback device, improving the efficiency and safety of teleoperation, reducing the time required for operators to complete tasks, and reducing the decision-making and teleoperation pressure on operators, thereby assisting operators in better perceiving changes in the remote environment.

Description

Technical Field

[0001] This invention relates to a teleoperation method for a mobile robotic arm, specifically a teleoperation method for a mobile robotic arm based on adaptive switching to address the problem of heterogeneous master-slave teleoperation. Background Technology

[0002] Mobile robotic arms, which are robotic arms mounted on mobile platforms, combine the mobility of the platform with the maneuverability of the robotic arm, and have been widely used in manufacturing, construction, agriculture, and military industries. However, autonomous robots cannot be well applied in some typical fields, such as aerospace, deep-sea exploration, and nuclear radiation—areas that are difficult for humans to reach and are dangerous. The complex tasks in these fields make it difficult for mobile robotic arms to work independently based on existing technologies. Therefore, teleoperation technology based on human-machine-environment interaction may be a solution to achieve higher performance for mobile robotic arms.

[0003] However, due to the high redundancy of mobile robotic arms, the application of teleoperation technology in mobile robotic arms inevitably encounters the problem of master-slave heterogeneity. Master-slave heterogeneity is generally defined as the difference between the master and slave robots in a teleoperation system in terms of mechanical structure, size, and number of joints. Current research on teleoperation mainly focuses on latency-based stability and teleoperation transparency. However, when directly executing remote tasks, the characteristics of master-slave heterogeneity require operators to expend extra effort in mapping the movements between the master and slave robots, which increases the operator's workload and degrades the operational efficiency. Therefore, it is necessary to perform motion planning for teleoperation heterogeneity in mobile robotic arms. Summary of the Invention

[0004] To address the problems existing in the background art, this invention provides a teleoperation method for a mobile robotic arm based on adaptive switching. The method includes a hybrid asymmetric mapping of position-velocity and position-position modes, as well as a force feedback matching strategy that considers the switching between the slave mobile platform and the robotic arm. This provides operators with a more intuitive and user-friendly teleoperation method that simultaneously manipulates the movement of the slave mobile platform and the robotic arm through a single master-end force feedback device, thereby reducing the time required for operators to complete tasks and lowering the decision-making and teleoperation pressure on operators.

[0005] The technical solution adopted in this invention is:

[0006] The teleoperation method for the mobile robotic arm of the present invention includes the following steps:

[0007] Step 1: Establish a master-slave mobile robotic arm system. The master-slave mobile robotic arm system includes a wirelessly connected master force feedback device and a slave robotic arm mobile device. The slave robotic arm mobile device is remotely controlled through the master force feedback device.

[0008] Step 2: Establish a hybrid asymmetric mapping model that includes position-velocity and position-position mapping. Input the end position of the master force feedback device into the hybrid asymmetric mapping model. The hybrid asymmetric mapping model outputs adaptive switching coefficients and motion commands for the slave robotic arm mobile device. Switch the motion state of the slave robotic arm mobile device, including movement state and operation state, through the adaptive switching coefficients, and control the movement of the slave robotic arm mobile device through the motion commands of the slave device.

[0009] Step 3: Establish a force feedback matching model for the master force feedback device. Input the virtual guidance force feedback of the slave robotic arm in the moving state and the force feedback in the operating state into the force feedback matching model. The force feedback matching model outputs the teleoperation feedback force to the master force feedback device. When the master operator receives the teleoperation feedback force while operating the master force feedback device, he continues to remotely control the slave robotic arm until the slave robotic arm moves to the preset target area in the remote environment and grasps the target object, thus realizing the teleoperation of the mobile robotic arm.

[0010] In step 1, the master-end manipulator of the master-end force feedback device is specifically a master-end six-degree-of-freedom manipulator. The first three degrees of freedom of the master-end manipulator determine the end-effector position, and the last three degrees of freedom determine the end-effector attitude. The end of the manipulator can feed back force or torque from three degrees of freedom. Here, only the end-effector position is considered, not the attitude; that is, only the first three degrees of freedom are considered. The master-end master controller is installed inside the master-end force feedback device. The slave-end manipulator moving device includes a slave-end four-wheel moving platform and a slave-end five-degree-of-freedom manipulator. The first four degrees of freedom of the slave-end five-degree-of-freedom manipulator determine the end-effector position, and the last degree of freedom determines the end-effector rotation attitude. Here, only the first four degrees of freedom are considered. The root of the slave-end five-degree-of-freedom manipulator is installed on the top of the slave-end four-wheel moving platform. The system is equipped with a slave-end master controller. An end effector is mounted at the end of the slave-end five-DOF robotic arm, and a force sensor is installed on the end effector. A laser rangefinder is mounted at the front of the slave-end four-wheeled mobile platform, used to measure the distance between the mobile platform and obstacles / targets. The master-end six-DOF robotic arm is electrically connected to the master-end master controller. The master-end master controller of the master-end force feedback device communicates wirelessly with the slave-end master controller via the ROS topic mechanism. The slave-end master controller is electrically connected to the slave-end four-wheeled mobile platform, the slave-end five-DOF robotic arm, the force sensor, and the laser rangefinder. The master-end operator generates master-end commands by manipulating the master-end force feedback device, which are then sent by the master-end master controller to the slave-end master controller to control the movement of the slave-end four-wheeled mobile platform and the slave-end five-DOF robotic arm.

[0011] In step 2, the established hybrid asymmetric mapping model, which includes position-velocity and position-position mapping, comprises position-velocity mapping mode and position-position mapping mode, as detailed below:

[0012] a) Position-velocity mapping mode:

[0013]

[0014] K b =(k v ,k ω ) T

[0015] Where η is the velocity vector of the four-wheeled mobile platform at the slave end, η=(v,ω), v is the forward velocity of the four-wheeled mobile platform at the slave end, and ω is the rotational angular velocity of the four-wheeled mobile platform at the slave end about the Z-axis of the slave end platform coordinate system; ξ b K is the adaptive switching coefficient for mobile platforms. b θ is the first constant proportional mapping vector; m1 The first joint angle of the master six-DOF robotic arm; Q m The end position of the master six-degree-of-freedom robotic arm.

[0016] The aforementioned slave platform coordinate system specifically uses the center of the slave four-wheeled mobile platform as the origin O. R With vertically upward as the Z-axis R Taking the forward direction of the four-wheel mobile platform as the Y-axis R The horizontal direction perpendicular to the Y-axis is the X-axis. R Establish a coordinate system following the right-hand rule.

[0017] The inverse kinematics solution of the four-wheel mobile platform is as follows:

[0018]

[0019] Where, ω 1,2,3,4 denoted as ωa, ωb, and ωc, respectively, represent the rotational angular velocities of the four wheels of the four-wheel moving platform at the starting end; R is the radius of each wheel of the four-wheel moving platform at the starting end; a and b are the distances from the centers of the four wheels of the four-wheel moving platform at the starting end to the Y-axis and X-axis of the four-wheel moving platform, respectively; vc x ,v y ω represents the velocity of the slave four-wheel mobile platform along the X and Y axes of the slave platform's coordinate system; r Let v be the angular velocity of the four-wheeled mobile platform rotating about the Z-axis, v = v y ,ω=ω r Ultimately, the four wheels are rotated by motors M1, 2, 3, and 4 that drive them.

[0020] b) Location-to-location mapping mode:

[0021] Q s =diag(ξ s )·diag(K s)·Q m +T s

[0022] K s =(k θ1 ,k r ,k h ) T

[0023] T s =(T θ1 ,T r ,T h ) T

[0024] Among them, Q s ξ represents the end-effector position of the five-degree-of-freedom robotic arm; s K represents the adaptive switching coefficient of the slave robotic arm. s To maximize the coverage of the second constant-proportional mapping vector from the rh-section of the end-five-degree-of-freedom robotic arm, k θ1 k r and k h These are the first, second, and third constant proportional mapping coefficients of the master and slave robotic arms on the θ1-, r-, and h- axes, respectively; T s The constant translation vector T in the master-slave workspace θ1 T r and T h These are the first, second, and third translation constants of the master and slave working spaces on the θ1-, r-, and h- axes, respectively.

[0025] In the position-position mapping mode, the Monte Carlo method is used to solve the workspace of the master and slave robotic arms.

[0026] The adaptive switching coefficient of the slave robotic arm mobile device includes the adaptive switching coefficient ξ of the mobile platform. b and the adaptive switching coefficient ξ of the slave robotic arm s The motion commands for the slave-end robotic arm mobile device include the velocity vector η of the slave-end four-wheeled mobile platform and the end-effector position Q of the slave-end five-degree-of-freedom robotic arm. s .

[0027] The mobile platform adaptive switching coefficient ξ b and the adaptive switching coefficient ξ of the slave robotic arm s Specifically as follows:

[0028] ξ b =[ξ v ,ξ ω ]

[0029] ξ s =[ξ θ ,ξr ,ξ h ]

[0030] Where, ξ v and ξ ω These represent the traveling motion state and the rotational motion state of the four-wheel mobile platform, respectively. When ξ v When ξ = 1, the four-wheeled mobile platform is in motion. v When ξ = 0, the four-wheeled mobile platform at the end is in a non-moving state. ω When ξ = 1, the four-wheeled moving platform at the end is in a rotating state. ω When ξ = 0, the four-wheeled mobile platform at the end is in a non-rotating state. v =0,ξ ω =0 indicates that the four-wheel moving platform is in a stationary state, and the range between 0 and 1 indicates a transitional state; ξ θ ξ r and ξ h These represent the joint angle state, distance state, and height state of the five-degree-of-freedom robotic arm, respectively, when ξ θ When ξ = 1, the five-degree-of-freedom robotic arm is in a variable joint angle state. θ When ξ = 0, the five-degree-of-freedom robotic arm is in a state of constant joint angles. r When ξ = 1, the five-degree-of-freedom robotic arm is in a variable distance state. r When ξ = 0, the five-degree-of-freedom robotic arm is in a state of constant distance. h When ξ = 1, the robotic arm with five degrees of freedom is in a variable height state. h When ξ = 0, the five-degree-of-freedom robotic arm is in a state of constant height. θ =0,ξ r =0,ξ h =0 indicates that the robotic arm with five degrees of freedom is in a stationary state.

[0031] The movement state of the slave robotic arm mobile device includes the traveling motion state of the slave four-wheel mobile platform. v and rotational motion state ξ ω The operational state of the slave robotic arm mobile device includes the joint angle state ξ of the slave five-degree-of-freedom robotic arm. θ Distance state ξ r and altitude state ξ h .

[0032] The travel motion state ξ of the aforementioned four-wheel mobile platform v and rotational motion state ξ ω And the joint angle state ξ of the end-five degree-of-freedom robotic arm θ Distance state ξ r and altitude state ξh Specifically as follows:

[0033]

[0034]

[0035]

[0036] Where α is the equivalent distance coefficient; β is the reference distance change; and d is the distance between the four-wheel mobile platform and the obstacle / target in the remote environment. and These are the first and second normalized variables of the master-end command generated by the master-end force feedback device, respectively. x m and y m λ and d are the X and Y coordinates of the six-DOF robotic arm at the master end in the master end three-dimensional coordinate system, respectively; n and k are the first and second constant coefficients, respectively; λ is the intermediate distance constant; d min For a safe distance, d max The transition distance is the distance at which the motion state and the operation state begin to switch.

[0037] The aforementioned master-end three-dimensional coordinate system specifically uses the center of the first joint of the master-end six-degree-of-freedom robotic arm as the coordinate origin O. m0 Vertically upward is the Z-axis. m0 When the first joint angle is 0, the rotation axis of the second joint angle is the Y-axis. m0 The horizontal direction perpendicular to the Y-axis is the X-axis. m0 Establish.

[0038] In a remote environment, there are several obstacles, each located between the slave four-wheeled mobile platform and the target object. Under the control of the master operator, the slave four-wheeled mobile platform navigates around the obstacles and moves to the vicinity of the target object to grab it. When the distance between the mobile robotic arm and the obstacle / target object is less than d... min When mobile platforms are in use, they should be kept as still as possible.

[0039] In step 2, the motion state of the slave robotic arm mobile device is switched using an adaptive switching coefficient. Specifically, the switching process between the movement and operation states of the slave robotic arm mobile device is controlled by the adaptive switching coefficient, as follows:

[0040] When the distance d between the slave four-wheeled mobile platform of the slave robotic arm and the target / obstacle in the remote environment is greater than the transition distance d in the transition state. max At this time, ξ θ =0,ξ r =0,ξ h =0,ξv =1,ξ ω =1, the slave robotic arm is in a moving state, while in reality the upper robotic arm remains stationary (ξ). θ ≈0,ξ r ≈0,ξ h ≈0), at this time, the mobile platform is most sensitive to commands from the host.

[0041] When the distance d between the slave four-wheeled mobile platform of the slave robotic arm and the target / obstacle in the remote environment is less than or equal to the transition distance d in the transition state. max And greater than the safe distance d min At this point, although the movement state has not yet ended, the operation state has already begun. This transitional state helps reduce task execution time. During this time, d gradually decreases, and ξ... θ ,ξ r ,ξ h It gradually increases to around 1, while ξ v ,ξ ω As the speed gradually decreases to around 0, the robotic arm gradually switches from a moving state to an operating state.

[0042] When the distance d between the slave four-wheel mobile platform of the slave robotic arm and the target / obstacle in the remote environment is less than or equal to the safe distance d min At this time, ξ v =0,ξ ω =0,ξ θ =1,ξ r =1,ξ h =1, the slave robotic arm is in operation, but in practice the mobile platform should remain fixed (ξ). v ≈0,ξ ω ≈0), at this time the operation task is performed, that is, the robotic arm above the end is most sensitive to the command from the master end (ξ). θ ≈1,ξ r ≈1,ξ h ≈1).

[0043] When the robotic arm moves from the end to the operating area, its direction should be able to be finely adjusted to make it easier to reach the target object, i.e., ξ ω Follow It increases gradually.

[0044] When the slave robotic arm completes its operational task, it needs to control the mobile platform to leave the operating area. The mobile platform also needs to constantly respond to commands that allow it to move backward, which is the first normalized variable of all master commands generated by the master force feedback devices. ξ θ ,ξ r ,ξ hGradually decrease to around 0, ξ v ,ξ ω Gradually increase it to around 1 to prevent collisions with targets / obstacles.

[0045] The end position Q of the aforementioned six-degree-of-freedom robotic arm m and the end position Q of the end-effector with five degrees of freedom s Specifically as follows:

[0046] Q m =(θ m1 ,r m ,h m )

[0047]

[0048] Q s =(θ s1 ,r s ,h s )

[0049]

[0050] Where, θ m1 and θ m2 These represent the first and second joint angles of the master-end six-DOF robotic arm, respectively, and the end position Q of the master-end six-DOF robotic arm. m Determined only by the first three joints; r m and h m These are the projected lengths of the distance between the end effector of the six-DOF robotic arm and the origin of the master-end three-dimensional coordinate system on the XY plane and the Z-axis, respectively; m1 and l m2 These are the lengths of the first and second arms of the main six-degree-of-freedom robotic arm, respectively; θ m23 The sum of the second and third joint angles of the master-end six-DOF robotic arm, θ m23 =θ m2 +θ m3 ;θ s1 and θ s2 These represent the first and second joint angles of the end effector (Q) of the end effector (Q'), respectively. s Determined only by the first four joints; r s and h s These are the projected lengths of the distance between the end effector of the five-DOF robotic arm and the origin of the three-dimensional coordinate system at the slave end, respectively, on the XY plane and the Z-axis; s1 l s2 l s3 and l s4 These represent the lengths of the first, second, third, and fourth robotic arms from the end-five-degree-of-freedom robotic arm, respectively; θs23 Let θ be the sum of the second and third joint angles of the end-five-degree-of-freedom robotic arm. s23 =θ s2 +θ s3 ;θ s234 Let θ be the sum of the joint angles of the second, third, and fourth joints of the five-degree-of-freedom robotic arm. s234 =θ s2 +θ s3 +θ s4 θ s4 This refers to the fourth joint angle of the five-degree-of-freedom robotic arm.

[0051] The aforementioned three-dimensional coordinate system is specifically defined with the root end center of the five-degree-of-freedom robotic arm at the slave end as the coordinate origin O. s0 Vertically upward is the Z-axis. s0 The forward direction of the four-wheel mobile platform is the X-axis. s0 The horizontal direction perpendicular to the X-axis is the Y-axis. s0 All spatial coordinate systems are established according to the right-hand rule.

[0052] Taking into account the structural characteristics of the master and slave robotic arms, a kinematic model of the master and slave robotic arms can be established. The force feedback device at the master end acquires the angles of each joint, and then the end positions P of the master and slave robotic arms are obtained through the DH parameter method. m P s P m =[x m ,y m ,z m ]、P s =[x s ,y s ,z s ] represents the end position of the master-slave robotic arm in the master-slave three-dimensional coordinate system, P m With Q m and P s With Q s The conversion relationships are as follows:

[0053]

[0054] Q m and Q s The end position of the master-slave robotic arm is represented by the angle-rh profile at the master and slave ends.

[0055] In step 3, the force feedback matching model of the master-end force feedback device is established as follows:

[0056] F e =ξ v f b +ξ h fs

[0057] Among them, F e For teleoperation feedback force; f b For virtual guidance force feedback of the slave four-wheel mobile platform of the slave robotic arm mobile device in motion; f s Force feedback for a slave-end five-DOF robotic arm that moves a mobile device.

[0058] Force feedback f during movement b This can be inspired by the artificial potential field method, which maps obstacle constraints into repulsive forces; the force feedback f in the operating state. s This is achieved by switching between the virtual guiding force feedback from the slave robotic arm and the force sensor measurement value fixed on the end effector of the slave robotic arm. Adaptive switching factor ξ v ,ξ h Force feedback f for two states b ,f s Switching is performed so that the force feedback F felt by the operator on the main end is... e .

[0059] The virtual guidance force feedback f of the slave four-wheeled mobile platform of the described slave robotic arm mobile device in the moving state b Specifically as follows:

[0060] f b =f rep (d b,o )

[0061]

[0062] Among them, f rep () represents the repulsive force feedback generated by the obstacle constraint mapping; d b,o k is the distance vector from the four-wheeled mobile platform to the obstacle. b1 and k b2 These are the first and second constant proportional coefficients for the force feedback of the slave-end moving state, respectively.

[0063] The force feedback f of the slave-end five-degree-of-freedom robotic arm of the described slave-end robotic arm mobile device s Specifically as follows:

[0064] f s =f att (d s,t )+f tou

[0065] f att (d s,t )=k s1 tanh(k s2 d s,t),

[0066] f att () represents the attractive force feedback generated by the target object constraint mapping; d s,t f is the distance vector from the end effector to the target object. tou The measured value is from the force sensor.

[0067] The beneficial effects of this invention are:

[0068] 1. The adaptive switching coefficient designed in this invention can change continuously with the master command and the remote environment, so that the operator can complete the automatic and smooth switching between the movement state and operation state of the slave mobile robot arm through a single master device.

[0069] 2. The asymmetric mapping model based on adaptive switching, which includes position-velocity mapping and position-position mapping, designed in this invention can make the limited workspace of the master end cover the infinite workspace of the slave end robot as much as possible, and the switching between the two mapping modes is completed automatically.

[0070] 3. The force feedback matching model based on adaptive switching designed in this invention can effectively match the actual remote operation tasks and help operators better perceive changes in the remote environment.

[0071] In summary, the method of the present invention provides operators with a more intuitive and user-friendly teleoperation method that simultaneously controls the movement of the slave mobile platform and the robotic arm through a single master force feedback device, thereby reducing the time required for operators to complete tasks and reducing the decision-making and teleoperation pressure on operators. Attached Figure Description

[0072] Figure 1 (a) is a kinematic schematic diagram of the main-end force feedback device of the present invention;

[0073] Figure 1 (b) is a kinematic schematic diagram of the slave-end robotic arm mobile device of the present invention;

[0074] Figure 1 (c) is a kinematic schematic diagram of the four-wheeled mobile platform of the present invention;

[0075] Figure 2 This is a flowchart of the method of the present invention;

[0076] Figure 3 This is a schematic block diagram of the hybrid asymmetric mapping model based on adaptive switching of the present invention;

[0077] Figure 4 This is a schematic diagram of the adaptive switching coefficient curve of the present invention;

[0078] Figure 4 (a) is the adaptive switching coefficient ξ of the present invention describing the travel motion state of the end four-wheel mobile platform. v A schematic diagram of the curve;

[0079] Figure 4 (b) is the adaptive switching coefficient ξ of the present invention describing the rotational motion state of the four-wheeled mobile platform. ω A schematic diagram of the curve;

[0080] Figure 4 (c) is the adaptive switching coefficient ξ of the present invention describing the height state of the slave robotic arm. h A schematic diagram of the curve;

[0081] Figure 5 This is a cross-sectional view of the working space of the master robotic arm and the mapped slave robotic arm rh according to the present invention.

[0082] Figure 6 This is a block diagram of the force feedback design based on adaptive switching of the present invention;

[0083] Figure 7 This is a comparison diagram of the switching coefficients of the adaptive switching and manual switching of the present invention with the effect of master-slave asymmetric mapping;

[0084] Figure 7 (a) is the position-velocity mapping mode curve under manual button switching;

[0085] Figure 7 (b) is a graph of the position-velocity mapping mode under adaptive continuous switching of the present invention;

[0086] Figure 7 (c) is the position-position mapping mode curve under manual button switching;

[0087] Figure 7 (d) is a curve of the position-position mapping mode under adaptive continuous switching of the present invention;

[0088] Figure 7 (e) is the switching coefficient curve under manual button switching;

[0089] Figure 7 (f) is the switching coefficient curve under adaptive continuous switching of the present invention;

[0090] Figure 8 This is a diagram illustrating the effect of the force feedback based on adaptive switching of the present invention. Detailed Implementation

[0091] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0092] 1. A teleoperation method for a mobile robotic arm based on adaptive switching, characterized in that:

[0093] Includes the following steps:

[0094] Step 1: Establish a master-slave mobile robotic arm system. The master-slave mobile robotic arm system includes a wirelessly connected master force feedback device and a slave robotic arm mobile device. The slave robotic arm mobile device is remotely controlled through the master force feedback device.

[0095] like Figure 1 of (a), Figure 1 (b) and Figure 1 As shown in (c), in step 1, the master-end manipulator of the master-end force feedback device is specifically a master-end six-degree-of-freedom manipulator. The first three degrees of freedom of the master-end manipulator determine the end-effector position, and the last three degrees of freedom determine the end-effector attitude. The end of the manipulator can feed back force or torque of three degrees of freedom. Here, only the end-effector position is considered, not the attitude, that is, only the first three degrees of freedom are considered. The master-end master controller is installed inside the master-end force feedback device. The slave-end manipulator mobile device includes a slave-end four-wheel mobile platform and a slave-end five-degree-of-freedom manipulator. The first four degrees of freedom of the slave-end five-degree-of-freedom manipulator determine the end-effector position, and the last degree of freedom determines the end-effector rotation attitude. Here, only the first four degrees of freedom are considered. The root of the slave-end five-degree-of-freedom manipulator is installed on the top of the slave-end four-wheel mobile platform. The platform is equipped with a slave-end master controller. An end effector is mounted at the end of the slave-end five-DOF robotic arm, and a force sensor is installed on the end effector. A laser rangefinder is mounted at the front of the slave-end four-wheeled mobile platform, used to measure the distance between the mobile platform and obstacles / targets. The master-end six-DOF robotic arm is electrically connected to the master-end master controller. The master-end master controller of the master-end force feedback device communicates wirelessly with the slave-end master controller via the ROS topic mechanism. The slave-end master controller is electrically connected to the slave-end four-wheeled mobile platform, the slave-end five-DOF robotic arm, the force sensor, and the laser rangefinder. The master-end operator generates master-end commands by manipulating the master-end force feedback device, which are then sent by the master-end master controller to the slave-end master controller to control the movement of the slave-end four-wheeled mobile platform and the slave-end five-DOF robotic arm.

[0096] Step 2: Establish a hybrid asymmetric mapping model that includes position-velocity and position-position mapping. Input the end position of the master force feedback device into the hybrid asymmetric mapping model. The hybrid asymmetric mapping model outputs adaptive switching coefficients and motion commands for the slave robotic arm mobile device. Switch the motion state of the slave robotic arm mobile device, including movement state and operation state, through the adaptive switching coefficients, and control the movement of the slave robotic arm mobile device through the motion commands of the slave device.

[0097] In step 2, the established hybrid asymmetric mapping model, which includes position-velocity and position-position mappings, comprises both position-velocity mapping and position-position mapping modes, as detailed below:

[0098] a) Position-velocity mapping mode:

[0099]

[0100] K b =(k v ,k ω ) T

[0101] Where η is the velocity vector of the four-wheeled mobile platform at the slave end, η=(v,ω), v is the forward velocity of the four-wheeled mobile platform at the slave end, and ω is the rotational angular velocity of the four-wheeled mobile platform at the slave end about the Z-axis of the slave end platform coordinate system; ξ b K is the adaptive switching coefficient for mobile platforms. b θ is the first constant proportional mapping vector; m1 The first joint angle of the master six-DOF robotic arm; Q m The end position of the master six-degree-of-freedom robotic arm.

[0102] Specifically, the coordinate system of the slave platform is defined with the center of the slave four-wheel mobile platform as the origin O. R With vertically upward as the Z-axis R Taking the forward direction of the four-wheel mobile platform as the Y-axis R The horizontal direction perpendicular to the Y-axis is the X-axis. R Establish a coordinate system following the right-hand rule.

[0103] The inverse kinematics solution of the four-wheel mobile platform is as follows:

[0104]

[0105] Where, ω 1,2,3,4 denoted as ωa, ωb, and ωc, respectively, represent the rotational angular velocities of the four wheels of the four-wheel moving platform at the starting end; R is the radius of each wheel of the four-wheel moving platform at the starting end; a and b are the distances from the centers of the four wheels of the four-wheel moving platform at the starting end to the Y-axis and X-axis of the four-wheel moving platform, respectively; vc x ,vy ω represents the velocity of the slave four-wheel mobile platform along the X and Y axes of the slave platform's coordinate system; r Let v be the angular velocity of the four-wheeled mobile platform rotating about the Z-axis, v = v y ,ω=ω r Ultimately, the four wheels are rotated by motors M1, 2, 3, and 4 that drive them.

[0106] b) Location-to-location mapping mode:

[0107] Q s =diag(ξ s )·diag(K s )·Q m +T s

[0108] K s =(k θ1 ,k r ,k h ) T

[0109] T s =(T θ1 ,T r ,T h ) T

[0110] Among them, Q s ξ represents the end-effector position of the five-degree-of-freedom robotic arm; s K represents the adaptive switching coefficient of the slave robotic arm. s To maximize the coverage of the second constant-proportional mapping vector from the rh-section of the end-five-degree-of-freedom robotic arm, k θ1 k r and k h These are the first, second, and third constant proportional mapping coefficients of the master and slave robotic arms on the θ1-, r-, and h- axes, respectively; T s The constant translation vector T in the master-slave workspace θ1 T r and T h These are the first, second, and third translation constants of the master and slave working spaces on the θ1-, r-, and h- axes, respectively.

[0111] In the position-position mapping mode, the Monte Carlo method is used to solve the workspace of the master and slave robotic arms.

[0112] The adaptive switching coefficients of the slave robotic arm mobile device include the mobile platform adaptive switching coefficient ξ. b and the adaptive switching coefficient ξ of the slave robotic arm sThe motion commands for the slave robotic arm mobile device include the velocity vector η of the slave four-wheeled mobile platform and the end-effector position Q of the slave five-DOF robotic arm. s .

[0113] Mobile platform adaptive switching coefficient ξ b and the adaptive switching coefficient ξ of the slave robotic arm s Specifically as follows:

[0114] ξ b =[ξ v ,ξ ω ]

[0115] ξ s =[ξ θ ,ξ r ,ξ h ]

[0116] Where, ξ v and ξ ω These represent the traveling motion state and the rotational motion state of the four-wheel mobile platform, respectively. When ξ v When ξ = 1, the four-wheeled mobile platform is in motion. v When ξ = 0, the four-wheeled mobile platform at the end is in a non-moving state. ω When ξ = 1, the four-wheeled moving platform at the end is in a rotating state. ω When ξ = 0, the four-wheeled mobile platform at the end is in a non-rotating state. v =0,ξ ω =0 indicates that the four-wheel moving platform is in a stationary state, and the range between 0 and 1 indicates a transitional state; ξ θ ξ r and ξ h These represent the joint angle state, distance state, and height state of the five-degree-of-freedom robotic arm, respectively, when ξ θ When ξ = 1, the five-degree-of-freedom robotic arm is in a variable joint angle state. θ When ξ = 0, the five-degree-of-freedom robotic arm is in a state of constant joint angles. r When ξ = 1, the five-degree-of-freedom robotic arm is in a variable distance state. r When ξ = 0, the five-degree-of-freedom robotic arm is in a state of constant distance. h When ξ = 1, the robotic arm with five degrees of freedom is in a variable height state. h When ξ = 0, the five-degree-of-freedom robotic arm is in a state of constant height. θ =0,ξ r =0,ξ h =0 indicates that the robotic arm with five degrees of freedom is in a stationary state.

[0117] The movement state of the slave robotic arm mobile device includes the traveling motion state of the slave four-wheel mobile platform. v and rotational motion state ξ ω The operational state of the slave robotic arm mobile device includes the joint angle state ξ of the slave five-degree-of-freedom robotic arm. θ Distance state ξ r and altitude state ξ h .

[0118] From the travel motion state of the four-wheel mobile platform ξ v and rotational motion state ξ ω And the joint angle state ξ of the end-five degree-of-freedom robotic arm θ Distance state ξ r and altitude state ξ h Specifically as follows:

[0119]

[0120]

[0121]

[0122] Where α is the equivalent distance coefficient; β is the reference distance change; and d is the distance between the four-wheel mobile platform and the obstacle / target in the remote environment. and These are the first and second normalized variables of the master-end command generated by the master-end force feedback device, respectively. x m and y m λ and d are the X and Y coordinates of the six-DOF robotic arm at the master end in the master end three-dimensional coordinate system, respectively; n and k are the first and second constant coefficients, respectively; λ is the intermediate distance constant; d min For a safe distance, d max The transition distance is the distance at which the motion state and the operation state begin to switch.

[0123] The master-end three-dimensional coordinate system is specifically defined with the origin O at the center of the first joint of the six-degree-of-freedom robotic arm at the master end. m0 Vertically upward is the Z-axis. m0 When the first joint angle is 0, the rotation axis of the second joint angle is the Y-axis. m0 The horizontal direction perpendicular to the Y-axis is the X-axis. m0 Establish.

[0124] In a remote environment, there are several obstacles, each located between the slave four-wheeled mobile platform and the target object. Under the control of the master operator, the slave four-wheeled mobile platform navigates around the obstacles and moves to the vicinity of the target object to grab it. When the distance between the mobile robotic arm and the obstacle / target object is less than d...min When mobile platforms are in use, they should be kept as still as possible.

[0125] In step 2, the motion state of the slave robotic arm mobile device is switched using an adaptive switching coefficient. Specifically, the switching process between the movement and operation states of the slave robotic arm mobile device is controlled by the adaptive switching coefficient, as follows:

[0126] When the distance d between the slave four-wheeled mobile platform of the slave robotic arm and the target / obstacle in the remote environment is greater than the transition distance d in the transition state. max At this time, ξ θ =0,ξ r =0,ξ h =0,ξ v =1,ξ ω =1, the slave robotic arm is in a moving state, while in reality the upper robotic arm remains stationary (ξ). θ ≈0,ξ r ≈0,ξ h ≈0), at this time, the mobile platform is most sensitive to commands from the host.

[0127] When the distance d between the slave four-wheeled mobile platform of the slave robotic arm and the target / obstacle in the remote environment is less than or equal to the transition distance d in the transition state. max And greater than the safe distance d min At this point, although the movement state has not yet ended, the operation state has already begun. This transitional state helps reduce task execution time. During this time, d gradually decreases, and ξ... θ ,ξ r ,ξ h It gradually increases to around 1, while ξ v ,ξ ω As the speed gradually decreases to around 0, the robotic arm gradually switches from a moving state to an operating state.

[0128] When the distance d between the slave four-wheel mobile platform of the slave robotic arm and the target / obstacle in the remote environment is less than or equal to the safe distance d min At this time, ξ v =0,ξ ω =0,ξ θ =1,ξ r =1,ξ h =1, the slave robotic arm is in operation, but in practice the mobile platform should remain fixed (ξ). v ≈0,ξ ω ≈0), at this time the operation task is performed, that is, the robotic arm above the end is most sensitive to the command from the master end (ξ). θ ≈1,ξ r ≈1,ξ h≈1).

[0129] When the robotic arm moves from the end to the operating area, its direction should be able to be finely adjusted to make it easier to reach the target object, i.e., ξ ω Follow It increases gradually.

[0130] When the slave robotic arm completes its operational task, it needs to control the mobile platform to leave the operating area. The mobile platform also needs to constantly respond to commands that allow it to move backward, which is the first normalized variable of all master commands generated by the master force feedback devices. ξ θ ,ξ r ,ξ h Gradually decrease to around 0, ξ v ,ξ ω Gradually increase it to around 1 to prevent collisions with targets / obstacles.

[0131] The end position Q of the master six-DOF robotic arm m and the end position Q of the end-effector with five degrees of freedom s Specifically as follows:

[0132] Q m =(θ m1 ,r m ,h m )

[0133]

[0134] Q s =(θ s1 ,r s ,h s )

[0135]

[0136] Where, θ m1 and θ m2 These represent the first and second joint angles of the master-end six-DOF robotic arm, respectively, and the end position Q of the master-end six-DOF robotic arm. m Determined only by the first three joints; r m and h m These are the projected lengths of the distance between the end effector of the six-DOF robotic arm and the origin of the master-end three-dimensional coordinate system on the XY plane and the Z-axis, respectively; m1 and l m2 These are the lengths of the first and second arms of the main six-degree-of-freedom robotic arm, respectively; θ m23 The sum of the second and third joint angles of the master-end six-DOF robotic arm, θ m23 =θ m2 +θ m3;θ s1 and θ s2 These represent the first and second joint angles of the end effector (Q) of the end effector (Q'), respectively. s Determined only by the first four joints; r s and h s These are the projected lengths of the distance between the end effector of the five-DOF robotic arm and the origin of the three-dimensional coordinate system at the slave end, respectively, on the XY plane and the Z-axis; s1 l s2 l s3 and l s4 These represent the lengths of the first, second, third, and fourth robotic arms from the end-five-degree-of-freedom robotic arm, respectively; θ s23 Let θ be the sum of the second and third joint angles of the end-five-degree-of-freedom robotic arm. s23 =θ s2 +θ s3 ;θ s234 Let θ be the sum of the joint angles of the second, third, and fourth joints of the five-degree-of-freedom robotic arm. s234 =θ s2 +θ s3 +θ s4 θ s4 This refers to the fourth joint angle of the five-degree-of-freedom robotic arm.

[0137] Specifically, the three-dimensional coordinate system is defined with the root center of the five-degree-of-freedom robotic arm at the end as the origin O. s0 Vertically upward is the Z-axis. s0 The forward direction of the four-wheel mobile platform is the X-axis. s0 The horizontal direction perpendicular to the X-axis is the Y-axis. s0 All spatial coordinate systems are established according to the right-hand rule.

[0138] Taking into account the structural characteristics of the master and slave robotic arms, a kinematic model of the master and slave robotic arms can be established. The force feedback device at the master end acquires the angles of each joint, and then the end positions P of the master and slave robotic arms are obtained through the DH parameter method. m P s P m =[x m ,y m ,z m ]、P s =[x s ,y s ,z s ] represents the end position of the master-slave robotic arm in the master-slave three-dimensional coordinate system, P m With Q m and P s With Q s The conversion relationships are as follows:

[0139]

[0140] Q m and Q s The end position of the master-slave robotic arm is represented by the angle-rh profile at the master and slave ends.

[0141] Step 3: Establish a force feedback matching model for the master force feedback device. Input the virtual guidance force feedback of the slave robotic arm in the moving state and the force feedback in the operating state into the force feedback matching model. The force feedback matching model outputs the teleoperation feedback force to the master force feedback device. When the master operator receives the teleoperation feedback force while operating the master force feedback device, he continues to remotely control the slave robotic arm until the slave robotic arm moves to the preset target area in the remote environment and grasps the target object, thus realizing the teleoperation of the mobile robotic arm.

[0142] like Figure 6 As shown, the force feedback matching model of the master-end force feedback device established in step 3 is as follows:

[0143] F e =ξ v f b +ξ h f s

[0144] Among them, F e For teleoperation feedback force; f b For virtual guidance force feedback of the slave four-wheel mobile platform of the slave robotic arm mobile device in motion; f s Force feedback for a slave-end five-DOF robotic arm that moves a mobile device.

[0145] Force feedback f during movement b This can be inspired by the artificial potential field method, which maps obstacle constraints into repulsive forces; the force feedback f in the operating state. s This is achieved by switching between the virtual guiding force feedback from the slave robotic arm and the force sensor measurement value fixed on the end effector of the slave robotic arm. Adaptive switching factor ξ v ,ξ h Force feedback f for two states b ,f s Switching is performed so that the force feedback F felt by the operator on the main end is... e .

[0146] The virtual guidance force feedback f of the slave four-wheel mobile platform of the slave robotic arm mobile device in motion. b Specifically as follows:

[0147] fb =f rep (d b,o )

[0148]

[0149] Among them, f rep () represents the repulsive force feedback generated by the obstacle constraint mapping; d b,o k is the distance vector from the four-wheeled mobile platform to the obstacle. b1 and k b2 These are the first and second constant proportional coefficients for the force feedback of the slave-end moving state, respectively.

[0150] Force feedback f of a slave-end robotic arm for mobile devices with five degrees of freedom. s Specifically as follows:

[0151] f s =f att (d s,t )+f tou

[0152] f att (d s,t )=k s1 tanh(k s2 d s,t ),

[0153] f att () represents the attractive force feedback generated by the target object constraint mapping; d s,t f is the distance vector from the end effector to the target object. tou The measured value is from the force sensor.

[0154] f rep and f att It has the following characteristics:

[0155] With d b,o Reduce to 0, f rep Gradually increase to a certain boundary value, and the direction does not change abruptly during the change. When the moving platform is far from the obstacle, i.e., d b,o Larger, f rep Keep it near 0.

[0156] With d s,t Decrease, f att Gradually decrease to 0, while when f att When d decreases to 0, s,t A value near 0 indicates that the end effector of the robotic arm has grasped the target object, and the force sensor measurement value f at this point is... tou Feedback is sent to the main operator, thus realizing the interaction between these two forces (f)att ,f tou Adaptive switching during the operation of the slave robot.

[0157] like Figure 2 As shown, firstly, the local operator operates the master-end force feedback device to generate information θ for each joint of the master-end robot. mi Then, by solving the forward kinematics, the end position information P of the main force feedback device can be obtained. m and Q m Therefore, by using a hybrid asymmetric mapping based on adaptive switching, the position signals are mapped to the velocity η of the mobile platform and the end position Q of the slave robot arm, respectively. s Then, by solving the inverse kinematics of the moving platform and the robotic arm, the rotational angular velocity ω of each wheel of the moving platform is obtained. 1,2,3,4 and the joint angles θ of the slave robotic arm si ω 1,2,3,4 and θ si The force feedback is sent to the slave robotic arm mobile device, thereby controlling the movement of the mobile robotic arm. Simultaneously, a force feedback model based on adaptive switching and the artificial potential field method is used, taking into account the force feedback f of the mobile platform. b Force feedback f of remote robotic arm s The distance information d in the remote environment and the force sensor measurement f at the end of the robotic arm are combined. tou Mapped to feedback force F e The force feedback device acts on the operator's hand, guiding the operator to perform the next operation. The designed adaptive switching coefficient ξ... v ,ξ ω ,ξ θ ,ξ r ,ξ h This is applied to the asymmetric hybrid mapping and force feedback, thus forming a teleoperation framework for a mobile robotic arm based on adaptive switching. Therefore, the motion state of the remote robot can be adaptively switched without the operator needing to pay attention to the switching process.

[0158] like Figure 3 As shown, this is a hybrid asymmetric mapping model based on adaptive switching. In the movement state, a position-velocity mapping mode is used to remotely control the motion of the mobile platform; in the operation state, the operator remotely controls the slave robotic arm to complete the picking and placing tasks through position-position mapping, such as... Figure 5 The figure shows the rh working space cross-section of the master robotic arm and the mapped slave robotic arm. The end position can be obtained by using the angle-rh-section mapping method, which can be combined with the structural characteristics of the master and slave robotic arms.

[0159] like Figure 4 of (a), Figure 4(b) and Figure 4 As shown in (c), the adaptive switching factor is designed to satisfy the five-step startup switching process. The adaptive switching factor realizes the autonomous switching of the motion of the mobile platform and the robotic arm.

[0160] The improvements in operational efficiency and user-friendliness of this method were verified in a ROS-based teleoperation system consisting of a Phantom Omni master force feedback device and a Kuka-Youbot slave mobile robotic arm, and compared with a traditional manual switching method based on button-based force feedback. The switching coefficients and the comparison results of master-slave asymmetric mapping are shown below. Figure 7 As shown in (a)-(f), the force feedback change based on adaptive switching is as follows Figure 8 As shown, where F x F y and F z Represented as the components of various forces along the X, Y, and Z axes in the principal three-dimensional coordinate system; F bx F by and F bz The virtual guidance force feedback f of the mobile platform in a mobile state b Components on the X, Y, and Z axes in the master-end three-dimensional coordinate system; F sx F sy and F sz The virtual guidance force feedback ξ for mobile platforms in motion h f s Components on the X, Y, and Z axes in the master-end three-dimensional coordinate system; F ex F ey and F ez The feedback force F e The components on the X, Y, and Z axes in the master-end three-dimensional coordinate system. It can be seen that in the adaptive switching method of this invention, the entire switching and mapping task is continuously and stably changing, reducing the time required for operators to complete the task, lowering the pressure of teleoperation decisions, and enabling the force feedback to match the remote task, achieving smooth adaptive switching between the force feedback of the mobile platform and the robotic arm.

[0161] The method proposed in this invention is applicable to general remote operation scenarios of mobile robotic arms. Specifically, the master operator can remotely operate a mobile robotic arm, such as the Kuka Youbot robot, by operating a local force feedback device, such as a commercial Phantom Omni device. First, the operator controls the mobile platform to move to the target area in an obstacle environment. Then, the operator controls the upper robotic arm to grasp the target object or complete other more complex operation tasks. Finally, the operator controls the mobile platform to leave the target area to end the task. During this process, the operator feels the force feedback information mapped from the slave environment through the force feedback device, which helps the operator better perceive changes in the remote environment.

Claims

1. A method for mobile manipulator teleoperation based on adaptive switching, characterized in that: Includes the following steps: Step 1: Establish a master-slave mobile robotic arm system. The master-slave mobile robotic arm system includes a wirelessly connected master force feedback device and a slave robotic arm mobile device. The slave robotic arm mobile device is remotely controlled through the master force feedback device. Step 2: Establish a hybrid asymmetric mapping model that includes position-velocity and position-position mapping. Input the end position of the master force feedback device into the hybrid asymmetric mapping model. The hybrid asymmetric mapping model outputs adaptive switching coefficients and motion commands for the slave robotic arm mobile device. Switch the motion state of the slave robotic arm mobile device, including movement state and operation state, through the adaptive switching coefficients, and control the movement of the slave robotic arm mobile device through the motion commands of the slave device. Step 3: Establish a force feedback matching model for the master force feedback device. Input the virtual guidance force feedback of the slave robotic arm in the moving state and the force feedback in the operating state into the force feedback matching model. The force feedback matching model outputs the teleoperation feedback force to the master force feedback device. When the master operator receives the teleoperation feedback force while operating the master force feedback device, he continues to remotely control the slave robotic arm until the slave robotic arm moves to the preset target area in the remote environment and grasps the target object, thus realizing the teleoperation of the mobile robotic arm. 2.The mobile manipulator teleoperation method based on adaptive switching according to claim 1, wherein: In step 1, the master-end robotic arm of the master-end force feedback device is specifically a master-end six-degree-of-freedom robotic arm, and a master-end controller is installed inside the master-end force feedback device. The slave-end robotic arm moving device includes a slave-end four-wheel moving platform and a slave-end five-degree-of-freedom robotic arm. The root of the slave-end five-degree-of-freedom robotic arm is installed on the top of the slave-end four-wheel moving platform. The slave-end master controller is installed inside the slave-end four-wheel moving platform. An end effector is installed at the end of the slave-end five-degree-of-freedom robotic arm, and a force sensor is installed on the end effector. A laser rangefinder is installed at the front of the moving platform; the master-end six-DOF robotic arm is electrically connected to the master-end master controller. The master-end master controller of the master-end force feedback device communicates wirelessly with the slave-end master controller via the ROS topic mechanism. The slave-end master controller is electrically connected to the slave-end four-wheel moving platform, the slave-end five-DOF robotic arm, the force sensor, and the laser rangefinder. The master-end operator generates master-end commands by manipulating the master-end force feedback device, which are sent by the master-end master controller to the slave-end master controller to control the movement of the slave-end four-wheel moving platform and the slave-end five-DOF robotic arm. 3.The mobile manipulator teleoperation method based on adaptive switching according to claim 1, wherein: In step 2, the established hybrid asymmetric mapping model, which includes position-velocity and position-position mapping, comprises position-velocity mapping mode and position-position mapping mode, as detailed below: a) Position-velocity mapping mode: in, The velocity vector of the four-wheel mobile platform is given. , To determine the forward speed of the four-wheel mobile platform, Let Z be the rotational angular velocity of the four-wheeled mobile platform about the Z-axis of the platform's coordinate system. For mobile platform adaptive switching coefficients; This is the first constant proportional mapping vector; The first joint angle of the master six-DOF robotic arm; The end effector position of the master six-DOF robotic arm; The aforementioned slave platform coordinate system specifically uses the center of the slave four-wheeled mobile platform as the origin O. R With vertically upward as the Z-axis R Taking the forward direction of the four-wheel mobile platform as the Y-axis R The horizontal direction perpendicular to the Y-axis is the X-axis. R ; b) Location-to-location mapping mode: in, The end position of the five-degree-of-freedom robotic arm; The adaptive switching coefficient for the slave robotic arm; This is the second constant proportional mapping vector. , and These are the first, second, and third constant proportional mapping coefficients, respectively; It is a constant translation vector. , and These are the first, second, and third translation constants, respectively. The adaptive switching coefficient of the slave mechanical arm moving device includes a moving platform adaptive switching coefficient and a slave mechanical arm adaptive switching coefficient The motion instruction of the slave mechanical arm moving device includes a speed vector of a slave four-wheel moving platform and an end position of a slave five-degree-of-freedom mechanical arm .

4. The mobile manipulator teleoperation method based on adaptive switching according to claim 3, characterized in that: The mobile platform adaptive switching coefficient And the adaptive switching coefficient of the end mechanical arm Specific as follows: in, and These represent the traveling motion state and the rotational motion state of the four-wheel mobile platform, respectively. At that time, the four-wheeled mobile platform is in motion. When the four-wheeled mobile platform is in a non-moving state, When the four-wheel mobile platform is in a rotating state, When the time is right, the four-wheel mobile platform is in a non-rotating state, and the state between 0 and 1 is a transition state; , and These represent the joint angle state, distance state, and height state of the end-five-degree-of-freedom robotic arm, respectively. When the five-degree-of-freedom robotic arm is in a variable joint angle state, then... When the five-degree-of-freedom robotic arm is in a state where the joint angles remain unchanged, then... When the five-degree-of-freedom robotic arm is in a variable distance state, When the five-degree-of-freedom robotic arm is in a state of constant distance, then... When the five-degree-of-freedom robotic arm is in a variable height state, At that time, the robotic arm with five degrees of freedom is in a state of constant height. The movement state of the slave robotic arm mobile device includes the traveling motion state of the slave four-wheel mobile platform. and rotational motion state The operational states of the slave robotic arm mobile device include the joint angle states of the slave five-degree-of-freedom robotic arm. Distance state and altitude status .

5. The method for teleoperating a mobile robotic arm based on adaptive switching according to claim 4, characterized in that: The travel motion state of the aforementioned four-wheel mobile platform and rotational motion state And the joint angle state of the end-five degree-of-freedom robotic arm Distance state and altitude status Specifically as follows: in, This is the equivalent distance coefficient; This is the change in reference distance; The distance between the four-wheeled mobile platform and an obstacle / target in the remote environment; and These are the first and second normalized variables of the master-end command generated by the master-end force feedback device, respectively. , and These are the X-axis and Y-axis coordinates of the six-DOF robotic arm at the master end in the master end three-dimensional coordinate system, respectively. and These are the first and second constant coefficients, respectively; The intermediate distance is constant; For a safe distance, The transition distance is the distance between the transition states. The aforementioned master-end three-dimensional coordinate system specifically uses the center of the first joint of the master-end six-degree-of-freedom robotic arm as the coordinate origin O. m0 Vertically upward is the Z-axis. m0 When the first joint angle is 0, the rotation axis of the second joint angle is the Y-axis. m0 The horizontal direction perpendicular to the Y-axis is the X-axis. m0 Establish.

6. The mobile manipulator teleoperation method based on adaptive switching according to claim 5, characterized in that: In step 2, the motion state of the slave robotic arm mobile device is switched using an adaptive switching coefficient. Specifically, the switching process between the movement and operation states of the slave robotic arm mobile device is controlled by the adaptive switching coefficient, as follows: When the distance between the slave four-wheel mobile platform of the slave robotic arm mobile device and the target / obstacle in the remote environment greater than the transition distance of the transition state At this time The end-effector robotic arm is in a moving state; The distance between the slave four-wheel mobile platform of the slave robotic arm and the target / obstacle in the remote environment Transition distance less than or equal to the transition state And greater than the safe distance hour, Gradually increase to 1, and Gradually decreasing to 0, the end-effector mobile device gradually switches from the moving state to the operating state; When the distance between the slave four-wheel mobile platform of the slave robotic arm mobile device and the target / obstacle in the remote environment Less than or equal to the safe distance At this time The end-effector robotic arm is in operation. a first normalized variable of the master command generated by the master force feedback device is gradually decreased to 0 , gradually decreased to 0, gradually increased to 1.

7. The mobile manipulator teleoperation method based on adaptive switching according to claim 3, characterized in that: The end position of the master end six-degree-of-freedom robot arm The end position of the slave end five-degree-of-freedom robot arm Specifically as follows: in, and These are the first and second joint angles of the main end six-degree-of-freedom robotic arm, respectively; and The distances between the end effector of the six-DOF robotic arm and the origin of the three-dimensional coordinate system at the master end are respectively... On the plane and Projected length on the axis; and These are the lengths of the first and second robotic arms of the main six-degree-of-freedom robotic arm, respectively. The sum of the second and third joint angles of the master-end six-DOF robotic arm. ; and These are the first and second joint angles of the five-degree-of-freedom robotic arm, respectively. and The distances between the end effector of the five-DOF robotic arm and the origin of the three-dimensional coordinate system at the slave end are respectively... On the plane and Projected length on the axis; , , and These are the lengths of the first, second, third, and fourth robotic arms, respectively, from the end of the five-degree-of-freedom robotic arm. The sum of the joint angles of the second and third joints of the five-degree-of-freedom robotic arm. ; The sum of the joint angles of the second, third, and fourth joints of the five-degree-of-freedom robotic arm. , This refers to the fourth joint angle of the five-degree-of-freedom robotic arm. The aforementioned three-dimensional coordinate system is specifically defined with the root end center of the five-degree-of-freedom robotic arm at the slave end as the coordinate origin O. s0 Vertically upward is the Z-axis. s0 The forward direction of the four-wheel mobile platform is the X-axis. s0 The horizontal direction perpendicular to the X-axis is the Y-axis. s0 Establish.

8. The method for teleoperating a mobile robotic arm based on adaptive switching according to claim 4, characterized in that: In step 3, the force feedback matching model of the master-end force feedback device is established as follows: in, For remote operation feedback force; Virtual guidance force feedback for the slave four-wheel mobile platform of the slave robotic arm mobile device in the moving state; Force feedback for a slave-end five-DOF robotic arm that moves a mobile device.

9. The mobile manipulator teleoperation method based on adaptive switching according to claim 2, characterized in that: The virtual guiding force feedback of the slave end four-wheel mobile platform of the slave end mechanical arm mobile device in a moving state The specific process is as follows: wherein, is a repulsive force feedback; is a distance vector from the end four-wheel mobile platform to the obstacle; and are first and second constant proportional coefficients, respectively.

10. The mobile manipulator teleoperation method based on adaptive switching according to claim 2, wherein: The force feedback of the slave five-degree-of-freedom manipulator of the slave mechanical arm moving device The specific implementation is as follows: wherein, an attractive force feedback generated for the object constraint mapping; a distance vector of the end effector to the object; a measurement of the force sensor.

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