A master-slave isomorphic robot teleoperation safety control method and system

Abstract

The present invention provides a master-slave isomorphic robot teleoperation safety control method and system. The method collects an environmental image of the slave robot's workspace and determines whether there are obstacles. If there are obstacles, the method calculates the expected acceleration of the slave robot's end caused by virtual gravity and repulsion and maps it to the joint space to obtain the expected angular acceleration of each joint, and then maps the expected angular acceleration to the joint space. Simultaneously, the expected acceleration of the slave robot's mobile chassis caused by virtual gravity and repulsion is calculated and applied to the motion space. If there are no obstacles, the expected angular acceleration of each joint of the slave robot is calculated and applied to the joint space of the slave robot. Simultaneously, the expected acceleration of the slave robot's mobile chassis caused by virtual gravity is calculated and applied to the motion space. By combining robot teleoperation with obstacle avoidance, the method allows the slave robot to safely avoid obstacles while stably following the motion trajectory of the master robot, achieving the goal of synchronized motion between the master and slave robots.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot teleoperation, and in particular relates to a master-slave isomorphic robot teleoperation safety control method and system. Background Art

[0002] Robot teleoperation involves an operator controlling a master robot, while a slave robot follows the master's trajectory, allowing the two robots to move synchronously. This allows the slave robot to perform various tasks, replacing humans in environments that are inaccessible or even endanger human health or life, thus extending human perception. Robot teleoperation can overcome geographic limitations and has been widely used in healthcare, space exploration, deep-sea exploration, and other fields.

[0003] Unlike the working environment of traditional industrial robots, the working environment of teleoperated robots is usually an unstructured environment with obstacles, which has more uncertainties and complex and changeable tasks. Therefore, teleoperated robots are not only required to have the stability, reliability and high precision of traditional industrial robots, but also need to be able to accurately avoid obstacles according to the external environment, so that the slave robot can safely avoid obstacles while completely following the motion trajectory of the master robot, thereby realizing shared control between humans and robots. In summary, the present invention proposes a master-slave isomorphic robot teleoperation safety control method and system, which combines robot teleoperation with obstacle avoidance, and realizes the safe obstacle avoidance of the slave robot based on the artificial potential field method, while making the slave robot stably follow the motion trajectory of the master robot, so as to achieve the purpose of synchronous movement of the master and slave robots. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a master-slave isomorphic robot teleoperation safety control method and system.

[0005] The present invention solves the technical problem by adopting the following technical solutions:

[0006] A master-slave isomorphic robot teleoperation safety control method, characterized in that the method comprises the following steps:

[0007] The first step is to collect the joint angles, end-end poses, and movement speed of the mobile chassis of the master and slave robots, and at the same time collect the environmental image of the slave robot's workspace and determine whether there are any obstacles in the slave robot's workspace;

[0008] Step 2: If there is an obstacle, calculate the expected acceleration of the slave robot end caused by the virtual gravity using the following formula;

[0009] Δp=p-p0 (1)

[0010] Fa =k a ·Δp (2)

[0011]

[0012] Where Δp is the end-position error between the master and slave robots, p0 is the end-position of the slave robot, p is the end-position of the master robot, and F a is the virtual gravity received by the end robot, k a is a constant matrix, is the expected acceleration of the slave robot end caused by the virtual gravity, M a is the inertia matrix of the virtual center of mass of the slave robot, 0 3×1 is a zero matrix;

[0013] The desired acceleration of the slave robot end generated by the virtual gravity is mapped to the joint space through the Jacobian matrix to obtain the desired angular acceleration of each joint of the slave robot generated by the virtual gravity;

[0014] The expected acceleration of the slave robot's mobile chassis generated by the virtual gravity is calculated by the following formula:

[0015] Δv=v-v0 (5)

[0016] F m =k a ·Δv (6)

[0017]

[0018] Where Δv is the motion speed error of the slave robot's mobile chassis, v and v0 are the motion speeds of the master and slave robot's mobile chassis respectively, and F m is the virtual gravitational force on the slave robot’s mobile chassis, M m is the inertia matrix of the virtual center of mass of the slave robot's mobile chassis, The expected acceleration of the slave robot's mobile chassis generated by the virtual gravity;

[0019] The virtual repulsive force of the obstacle on the link lm is calculated by formula (8), where the link lm is the link closest to the obstacle on the slave robot.

[0020]

[0021] Where, d lm is the shortest distance from the connecting rod lm to the obstacle envelope, k r is a constant coefficient, d is the safety distance, f r is the virtual repulsive force of the obstacle on the connecting rod lm, and its direction is from the foot of the obstacle to the foot of the connecting rod lm;

[0022] Formula (9) is used to calculate the desired acceleration of the slave robot with the link lm as the end, and the desired acceleration of the end is mapped to the joint space through the Jacobian matrix to obtain the desired angular acceleration of each joint of the slave robot generated by the virtual repulsive force;

[0023]

[0024] Where, is the virtual repulsive force matrix of the obstacle on the link lm, and is the virtual repulsive force f exerted by the obstacle on the link lm r The components on the three coordinate axes, M is the desired acceleration of the slave robot with the link lm as the end, lm is the inertia matrix of the virtual center of mass of the slave robot with the link lm as the end;

[0025] Calculate the expected angular acceleration of each joint of the slave robot according to formula (11), and apply the expected angular acceleration of each joint of the slave robot to the joint space. The expected angular velocity of the joint of the slave robot is as shown in formula (12);

[0026]

[0027]

[0028] Where, is the expected angular acceleration matrix of the slave robot joint, is the expected angular acceleration matrix of the slave robot joint at time t+1, are the expected angular velocity matrices of the slave robot joints at time t and t+1, respectively, and α is the weight coefficient of the robot arm's obstacle avoidance;

[0029] The expected acceleration of the slave robot's mobile chassis is calculated by equations (13) and (14), and the expected acceleration of the slave robot's mobile chassis is applied to the motion space. The motion speed of the slave robot's mobile chassis is as shown in equation (15);

[0030]

[0031]

[0032]

[0033] Where, is the expected acceleration of the slave robot's mobile chassis generated by the virtual repulsion, r is the distance vector from the geometric center of the obstacle to the geometric center of the slave robot, M0 is the inertia matrix of the slave robot as a whole, is the expected acceleration of the slave robot’s mobile chassis, 1-α is the weight coefficient of the slave robot’s mobile chassis’ obstacle avoidance, are the movement speeds of the robot's chassis at time t+1 and t, respectively. is the expected acceleration of the slave robot moving chassis at time t+1;

[0034] In the third step, if there are no obstacles, the expected angular acceleration of each joint of the slave robot is calculated using the following formula, and the expected angular acceleration of the joint is applied to the joint space of the slave robot;

[0035] Δθ=θ-θ0(16)

[0036]

[0037] Where Δθ is the joint angle error matrix, θ and θ0 are the joint angle matrices of the master and slave robots respectively;

[0038] According to formula (7), the expected acceleration of the slave robot's mobile chassis generated by the virtual gravity is calculated, and the expected acceleration of the slave robot's mobile chassis generated by the virtual repulsion is calculated as Set it to zero, and calculate the expected acceleration of the slave robot's mobile chassis through formula (14), and apply the expected acceleration of the slave robot's mobile chassis to the motion space.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The existing artificial potential field obstacle avoidance method equates the obstacle to a sphere and substitutes the shortest distance from the geometric center of the sphere to the robot into the repulsion function to calculate the virtual repulsion. In fact, the obstacle is a three-dimensional object, and it is obviously unrealistic to equate it to a sphere. The present invention uses an envelope box to equate the obstacle, retaining the three-dimensional characteristics of the obstacle. At the same time, the capsule equivalent model is used to simplify the slave robot, calculate the shortest distance from the robot connecting rod to all edges of the envelope box, and substitute this shortest distance into the repulsion function to calculate the virtual repulsion, so that the slave robot has good obstacle avoidance performance and improves the safety of the slave robot.

[0041] 2. The present invention combines robot teleoperation with obstacle avoidance. Based on the concept of artificial potential field, the expected accelerations of the slave robot terminal and the slave robot's mobile chassis generated by the virtual gravity and repulsion are calculated respectively, and the expected acceleration of the slave robot terminal is applied to the joint space, and the expected acceleration of the slave robot's mobile chassis is applied to the motion space. This enables the slave robot to safely avoid obstacles while stably following the motion trajectory of the master robot, thereby achieving the purpose of synchronous movement of the master and slave robots. During the teleoperation process, the slave robot has the ability to track the master robot and avoid obstacles at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is the overall flow chart;

[0043] Figure 2 This is a simplified schematic diagram of the slave robot linkage;

[0044] Figure 3 Schematic diagram for calculating the shortest distance between two line segments. DETAILED DESCRIPTION

[0045] Specific embodiments are given below in conjunction with the accompanying drawings. The specific embodiments are only used to illustrate the technical solutions of the present invention in detail and are not intended to limit the scope of protection of the present application.

[0046] The present invention provides a master-slave isomorphic robot teleoperation safety control system, comprising a master robot, a master controller, a slave robot, a slave controller, and a visual sensor. The master robot and the master controller are located in a remote control room, while the slave robot and the slave controller are located in an actual working environment. The visual sensor is mounted on the slave robot and is used to capture environmental images. The master robot and the master controller communicate using an RS485 bus, the master controller and the slave controller communicate using the TCP protocol, and the slave controller and the slave robot communicate using the EtherCAT protocol. The visual sensor uses a Kienct sensor, and a USB-C data interface is used for data transmission. The master controller captures the joint angles and end position of the master robot and sends them to the slave controller. The slave controller captures the joint angles, end position, and motion speed of the mobile chassis of the slave robot, and receives environmental images captured by the visual sensor. The slave controller also serves as a processor of the method. Both the master robot and the slave robot are dual-arm robots. The dual-arm robots include a mobile chassis and left and right robotic arms with 8 degrees of freedom. Each robotic arm includes 7 connecting rods, and the waist shares two connecting rods. The end of the left and right robotic arms of the master robot are respectively equipped with a handle for controlling the movement of the robot. The left handle controls the robot's forward and backward movement and left turn, and the right handle controls the robot's left and right movement and right turn. The movement speed of the master robot's mobile chassis can be obtained through the handle.

[0047] A master-slave isomorphic robot teleoperation safety control method comprises the following steps:

[0048] In the first step, the master controller collects the joint angles, end position and movement speed of the master robot and sends them to the slave controller. The slave controller collects the joint angles, end position and movement speed of the slave robot, and the visual sensor collects the environment image. The slave controller processes the environment image and determines whether there are obstacles in the slave robot's workspace.

[0049] Step 2: If there is an obstacle, calculate the end-position error of the master and slave robots, calculate the virtual gravity acting on the end of the slave robot based on the end-position error, and calculate the expected acceleration of the end of the slave robot caused by the virtual gravity;

[0050] Δp=p-p0 (1)

[0051] F a =k a ·Δp (2)

[0052]

[0053] Where Δp is the end-position error between the master and slave robots, p0 is the end-position of the slave robot, and p is the end-position of the master robot, that is, the expected end-position of the slave robot; F a is the virtual gravity received by the end robot, k a is a constant matrix, is the expected acceleration of the slave robot end caused by the virtual gravity, M a is the inertia matrix of the virtual center of mass of the slave robot, 0 3×1 is a zero matrix;

[0054] The desired acceleration of the slave robot end caused by the virtual gravity is mapped to the joint space through the Jacobian matrix to obtain the desired angular acceleration of each joint of the slave robot caused by the virtual gravity.

[0055]

[0056] Where, is the expected angular acceleration matrix of the slave robot joint generated by the virtual gravity, J -1 is the inverse Jacobian matrix of the slave robot, is the Jacobian matrix of the angular velocity of the slave robot, is the velocity of the end of the slave robot, δ is a constant;

[0057] Calculate the motion velocity error between the master and slave robot mobile chassis, calculate the virtual gravitational force on the slave robot mobile chassis based on the motion velocity error, and calculate the expected acceleration of the slave robot mobile chassis generated by the virtual gravitational force;

[0058] Δv=v-v0 (5)

[0059] F m =k a ·Δv (6)

[0060]

[0061] Where Δv is the motion speed error of the slave robot's mobile chassis, v and v0 are the motion speeds of the master and slave robot's mobile chassis respectively, and F m is the virtual gravitational force on the slave robot’s mobile chassis, M m is the inertia matrix of the virtual center of mass of the slave robot's mobile chassis, The expected acceleration of the slave robot's mobile chassis generated by the virtual gravity;

[0062] The purpose of safety control is to make the slave robot have good obstacle avoidance performance. The premise for the slave robot to avoid obstacles is to calculate the distance between each link and the obstacle. Due to the complexity of the robot's mechanical structure, the exact distance is usually difficult to calculate. In order to calculate the distance between the obstacle and each link of the slave robot, the enveloping box method is first used to simplify the slave robot and the obstacle. The obstacle is enveloping using an OBB bounding box, and the capsule equivalent model is used to envelop each link of the slave robot's manipulator arm. See Figure 2 ; Then, calculate the shortest distance from the end robot connecting rod to the obstacle envelope box. First, calculate the shortest distance from the connecting rod to each edge of the obstacle envelope box. The minimum value of these shortest distances is the shortest distance from the connecting rod to the obstacle envelope box. Figure 3 As shown in the figure, assume that line segment l1 is any edge of the obstacle envelope, and the two endpoints of line segment l1 are denoted as points P1 and P2; line segment l2 is any link of the slave robot, and the two endpoints of line segment l2 are denoted as points Q1 and Q2;

[0063] Line segment l1: P(ω1)=P1+ω1S1, S1=P2-P1, ω1∈[0,1]

[0064] Line segment l2: Q(ω2)=Q1+ω2S2, S2=Q2-Q1, ω2∈[0,1]

[0065] The shortest distance between line segments l1 and l2 can be transformed into a constrained optimization problem:

[0066] minf(ω1,ω2)=‖P(ω1)-Q(ω2)‖ 2 =‖(P1+ω1S1)-(Q1+ω2S2)‖ 2

[0067] stω1,ω2∈[0,1]

[0068] According to the minimum condition: We can get:

[0069]

[0070] If 0≤ω1,ω2≤1, then the shortest distance d between line segments l1 and l2 is min=f(ω1,ω2), otherwise calculate the shortest distances d1 and d2 from points P1 and P2 to line segment l2, and the shortest distances d3 and d4 from points Q1 and Q2 to line segment l1, respectively. The shortest distance d between line segments l1 and l2 can be obtained. min =min{d1,d2,d3,d4}.

[0071] Calculate the shortest distance from all links to the obstacle envelope in the same way as above. Select the link lm closest to the obstacle on the slave robot based on the shortest distance from all links to the obstacle envelope. Use the repulsion function of formula (8) to calculate the virtual repulsion of the obstacle on the link lm based on the shortest distance from the slave robot link lm to the obstacle envelope.

[0072]

[0073] Where, d lm is the shortest distance from the connecting rod lm to the obstacle envelope, k r is a constant coefficient, d is the safety distance, when the shortest distance d lm When the distance is greater than or equal to the safety distance d, no repulsive force is generated; f r is the virtual repulsive force of the obstacle on the connecting rod lm, and its direction is from the foot of the obstacle to the foot of the connecting rod lm;

[0074] According to the virtual gravity F received by the end of the slave robot a The virtual repulsion of the obstacle on the link lm is calculated using Equation (9) to calculate the desired acceleration of the slave robot with the link lm as the end. The desired acceleration of the end is mapped to the joint space through the Jacobian matrix to obtain the desired angular acceleration of each joint of the slave robot generated by the virtual repulsion.

[0075]

[0076]

[0077] Where, is the virtual repulsive force matrix of the obstacle on the link lm, and is the virtual repulsive force f exerted by the obstacle on the link lm r The components on the three coordinate axes, M is the desired acceleration of the slave robot with the link lm as the end, lm is the inertia matrix of the virtual center of mass of the slave robot with the link lm as the end, is the expected angular acceleration matrix of the slave robot joint generated by the virtual repulsion, represents the inverse Jacobian matrix of the slave robot with the link lm as the end, represents the angular velocity Jacobian matrix of the slave robot with the link lm as the end, It represents the speed of the slave robot end with the link lm as the end;

[0078] The expected angular acceleration of each joint of the slave robot is calculated according to formula (11), and the expected angular velocity of each joint of the slave robot is applied to the joint space, so that each joint of the slave robot rotates according to the expected angular velocity. In the continuous system, the expected angular velocity of the joint of the slave robot is as shown in formula (12);

[0079]

[0080]

[0081] Where, is the expected angular acceleration matrix of the slave robot joint, is the expected angular acceleration matrix of the slave robot joint at time t+1, are the expected angular velocity matrices of the slave robot joints at time t and t+1, respectively, and α is the weight coefficient of the robot arm's obstacle avoidance;

[0082] According to the virtual repulsion of the obstacle on the link lm, the expected acceleration of the slave robot's mobile chassis generated by the virtual repulsion is calculated by formula (13);

[0083]

[0084]

[0085] Where, is the expected acceleration of the slave robot's mobile chassis generated by the virtual repulsion, r is the distance vector from the geometric center of the obstacle to the geometric center of the slave robot, M0 is the inertia matrix of the slave robot as a whole, is the expected acceleration of the slave robot's mobile chassis, 1-α is the weight coefficient of the slave robot's mobile chassis for obstacle avoidance;

[0086] The slave controller applies the desired acceleration of the slave robot's mobile chassis to the motion space, making the slave robot move synchronously with the master robot. In a continuous system, the motion speed of the slave robot's mobile chassis is expressed as:

[0087]

[0088] Where, are the movement speeds of the robot's chassis at time t+1 and t, respectively. is the expected acceleration of the slave robot's moving chassis at time t+1.

[0089] In the third step, if there is no obstacle, the joint angle error of the master and slave robots is calculated by formula (16); based on the joint angle error, the expected angular acceleration of each joint of the slave robot is calculated by formula (17), and the expected angular acceleration of the joint is applied to the joint space of the slave robot;

[0090] Δθ=θ-θ0 (16)

[0091]

[0092] Where Δθ is the joint angle error matrix, θ and θ0 are the joint angle matrices of the master and slave robots respectively;

[0093] At the same time, the expected acceleration of the slave robot's mobile chassis generated by the virtual gravity is calculated according to formula (7). Since there is no obstacle and only virtual gravity exists, Set it to zero, and calculate the expected acceleration of the slave robot's mobile chassis through formula (14), and apply the expected acceleration of the slave robot's mobile chassis to the motion space, so that the slave robot moves synchronously with the master robot.

[0094] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A master-slave isomorphic robot teleoperation safety control method, characterized in that: The method comprises the following steps: The first step is to collect the joint angles, end-end poses, and movement speed of the mobile chassis of the master and slave robots, and at the same time collect the environmental image of the slave robot's workspace and determine whether there are any obstacles in the slave robot's workspace; Step 2: If there is an obstacle, calculate the expected acceleration of the slave robot end caused by the virtual gravity using the following formula; Δp=p-p0 (1) F a =k a ·Δp (2) Where Δp is the end-position error between the master and slave robots, p0 is the end-position of the slave robot, p is the end-position of the master robot, and F a is the virtual gravity received by the end robot, k a is a constant matrix, is the expected acceleration of the slave robot end caused by the virtual gravity, M a is the inertia matrix of the virtual center of mass of the slave robot, 0 3×1 is a zero matrix; The desired acceleration of the slave robot end generated by the virtual gravity is mapped to the joint space through the Jacobian matrix to obtain the desired angular acceleration of each joint of the slave robot generated by the virtual gravity; The expected acceleration of the slave robot's mobile chassis generated by the virtual gravity is calculated by the following formula: Δv=v-v0 (5) F m =k a ·Δv (6) Where Δv is the motion speed error of the slave robot's mobile chassis, v and v0 are the motion speeds of the master and slave robot's mobile chassis respectively, and F m is the virtual gravitational force on the slave robot’s mobile chassis, M m is the inertia matrix of the virtual center of mass of the slave robot's mobile chassis, The expected acceleration of the slave robot's mobile chassis generated by the virtual gravity; The virtual repulsive force of the obstacle on the link lm is calculated by formula (8), where the link lm is the link closest to the obstacle on the slave robot. Where, d lm is the shortest distance from the connecting rod lm to the obstacle envelope, k r is a constant coefficient, d is the safety distance, f r is the virtual repulsive force of the obstacle on the connecting rod lm, and its direction is from the foot of the obstacle to the foot of the connecting rod lm; Formula (9) is used to calculate the desired acceleration of the slave robot with the link lm as the end, and the desired acceleration of the end is mapped to the joint space through the Jacobian matrix to obtain the desired angular acceleration of each joint of the slave robot generated by the virtual repulsive force; Where, is the virtual repulsive force matrix of the obstacle on the link lm, and is the component of the virtual repulsive force fr of the obstacle on the connecting rod lm on the three coordinate axes, M is the desired acceleration of the slave robot with the link lm as the end, lm is the inertia matrix of the virtual center of mass of the slave robot with the link lm as the end; Calculate the expected angular acceleration of each joint of the slave robot according to formula (11), and apply the expected angular acceleration of each joint of the slave robot to the joint space. The expected angular velocity of the joint of the slave robot is as shown in formula (12); Where, is the expected angular acceleration matrix of the slave robot joint, is the expected angular acceleration matrix of the slave robot joint at time t+1, are the expected angular velocity matrices of the slave robot joints at time t and t+1, respectively, and α is the weight coefficient of the robot arm's obstacle avoidance; The expected acceleration of the slave robot's mobile chassis is calculated by equations (13) and (14), and the expected acceleration of the slave robot's mobile chassis is applied to the motion space. The motion speed of the slave robot's mobile chassis is as shown in equation (15); Where, is the expected acceleration of the slave robot's mobile chassis generated by the virtual repulsion, r is the distance vector from the geometric center of the obstacle to the geometric center of the slave robot, M0 is the inertia matrix of the slave robot as a whole, is the expected acceleration of the slave robot’s mobile chassis, 1-α is the weight coefficient of the slave robot’s mobile chassis’ obstacle avoidance, are the movement speeds of the robot's chassis at time t+1 and t, respectively. is the expected acceleration of the slave robot moving chassis at time t+1; In the third step, if there are no obstacles, the expected angular acceleration of each joint of the slave robot is calculated using the following formula, and the expected angular acceleration of the joint is applied to the joint space of the slave robot; Δθ=θ-θ0 (16) Where Δθ is the joint angle error matrix, θ and θ0 are the joint angle matrices of the master and slave robots respectively; According to formula (7), the expected acceleration of the slave robot's mobile chassis generated by the virtual gravity is calculated, and the expected acceleration of the slave robot's mobile chassis generated by the virtual repulsion is calculated as Set it to zero, and calculate the expected acceleration of the slave robot's mobile chassis through formula (14), and apply the expected acceleration of the slave robot's mobile chassis to the motion space.

2. The master-slave isomorphic robot teleoperation safety control method according to claim 1, characterized in that: In the second step, the obstacle is equivalent to the OBB bounding box to obtain the obstacle envelope; the slave robot is equivalent to the capsule equivalent model to obtain the various links of the slave robot; Calculate the shortest distance from the end robot link to each edge of the obstacle envelope. The minimum of these shortest distances is the shortest distance from the end robot link to the obstacle envelope. Assume that line segment l1 is any edge of the obstacle envelope, and the two endpoints of line segment l1 are denoted as points P1 and P2. Line segment l2 is any link of the slave robot, and the two endpoints of line segment l2 are denoted as points Q1 and Q2. Line segment l1: P(ω1)=P1+ω1S1, S1=P2-P1, ω1∈[0,1] Line segment l2: Q(ω2)=Q1+ω2S2, S2=Q2-Q1, ω2∈[0,1] The shortest distance between line segments l1 and l2 can be transformed into a constrained optimization problem: minf(ω1,ω2)=||P(ω1)-Q(ω2)|| 2 =||(P1+ω1S1)-(Q1+ω2S2)|| 2 stω1,ω2∈[0,1] According to the minimum condition: We can get: If 0≤ω1,ω2≤1, then the shortest distance d between line segments l1 and l2 is min =f(ω1,ω2), otherwise calculate the shortest distances d1 and d2 from points P1 and P2 to line segment l2, and the shortest distances d3 and d4 from points Q1 and Q2 to line segment l1, respectively. The shortest distance d between line segments l1 and l2 can be obtained. min =min{d1, d2, d3, d4}; The shortest distances from all the links of the end robot to the obstacle envelope are calculated in the above manner. The minimum value of these shortest distances is the shortest distance from the link lm to the obstacle envelope.

3. A master-slave isomorphic robot teleoperation safety control system, which realizes robot teleoperation by the method according to claim 1 or 2; characterized in that: It includes a master robot, a master controller, a slave robot, a slave controller and a visual sensor; the master robot is located in the remote control room, and the slave robot is located in the actual environment. The master controller is used to collect the joint angles, end position and movement speed of the master robot and the slave controller collects the joint angles, end position and movement speed of the mobile chassis of the slave robot. The visual sensor is used to collect the environmental image of the slave robot's workspace.

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