A teleoperation control system and method based on an isomorphic force feedback hand controller

Abstract

The application discloses a teleoperation control system and method based on an isomorphic force feedback hand controller, which is composed of a master terminal and a slave terminal; the master terminal at least contains an interactive interface and a force feedback hand controller; the slave terminal at least contains a mechanical arm, a camera and a force sensor; the force feedback hand controller and the mechanical arm are isomorphic; a force mapping from the mechanical arm of the slave terminal to the force feedback hand controller of the master terminal is arranged, force information collected by a force sensor at the end of the mechanical arm is fed back to the force feedback hand controller, and the mechanical arm is controlled in position by operating the master terminal hand controller or the interactive interface; the position control contains coarse adjustment joint control, fine adjustment joint control and end control; a force sensor coordinate system and a force feedback hand controller end coordinate system are coincident. The application can simultaneously satisfy fast movement and fine operation through the three control modes, improve the adaptability of the teleoperation system and the efficiency and accuracy in the operation process, and increase the sense of presence and reality of an operator.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot teleoperation control, and mainly relates to a teleoperation control system and method based on an isomorphic force feedback hand controller. Background Art

[0002] In recent years, teleoperation technology has been increasingly used in various fields. Autonomous robots face numerous challenges in handling complex and dynamic environments, such as perception errors and decision-making uncertainty. However, teleoperation technology, through human-robot collaboration, addresses these shortcomings. Teleoperation allows human operators to control robots in real time from a remote, secure environment, directly intervening in the execution of complex tasks while ensuring precision and flexibility. Teleoperation technology can rapidly adapt to changing environments and uncertain conditions, enabling tasks that are difficult for autonomous robots to complete. It also improves operational safety and efficiency. It enables humans to operate complex equipment from a remote, secure location, performing tasks in dangerous or extreme environments such as deep sea, space, and nuclear power, eliminating human risks. Teleoperation technology is also widely used in other fields, such as healthcare and power generation, where operators improve operational efficiency and safety by remotely controlling robots. Teleoperation technology not only promotes scientific and technological progress and innovation but also brings significant economic and social benefits, improving the way people live and work.

[0003] During teleoperation, due to the physical separation between the operator and the remote environment and limited information transmission, the operator may lack comprehensive environmental awareness. This cognitive deficit can lead to the operator's inability to accurately judge obstacles, spatial distances, or equipment status, leading to operational errors, equipment damage, or mission failure. Particularly in hazardous environments or high-precision missions, insufficient awareness can pose safety hazards, increase the risk of accidents, and affect mission success and overall operational reliability. Therefore, increasing information feedback during teleoperation is a crucial research topic.

[0004] In robot control and teleoperation, joint angle space and Cartesian space are two commonly used description and control methods. Joint angle space refers to the collection of angles or positions of each joint of the robot, and joint angle control directly controls each joint angle of the robot. Cartesian space refers to the position and attitude of the robot end effector in three-dimensional space, and end control directly controls the position and attitude of the robot end effector. The single joint angle control method and the end control each have certain limitations and cannot be universally applied to complex teleoperation operation tasks. Although joint angle control is simple and has strong real-time performance, it is not intuitive in complex path planning, and the operator's cognition is difficult, and it cannot be applied to dynamic environment and complex path operation. End control is intuitive and has high flexibility, but requires inverse kinematics calculation, and the control algorithm is complex, which has obvious defects in tasks requiring high precision and repetitive operation. SUMMARY

[0005] The present application is aimed at the problem that the prior art cannot be universally applied to complex teleoperation tasks, and provides a teleoperation control system and method based on an isomorphic force feedback hand controller, which is composed of a master end and a slave end. The master end at least includes an interactive interface and a force feedback hand controller. The slave end at least includes a mechanical arm, a camera and a force sensor. The force feedback hand controller and the mechanical arm are isomorphic. A force mapping from the mechanical arm of the slave end to the force feedback hand controller of the master end is set, and the force information collected by the force sensor at the end of the mechanical arm is fed back to the force feedback hand controller. The position of the mechanical arm of the slave end is controlled by operating the master hand controller or the interactive interface. The position control includes coarse joint control, fine joint control and end control. The force sensor coordinate system and the force feedback hand controller end coordinate system coincide. The present application can simultaneously meet fast movement and fine operation through the three control modes, improve the adaptability of the teleoperation system and the efficiency and accuracy in the operation process, and increase the sense of presence and reality of the operator.

[0006] To achieve the above object, the technical scheme adopted by the present application is as follows: a teleoperation control system based on an isomorphic force feedback hand controller, which is composed of a master end and a slave end.

[0007] The master end at least includes an interactive interface and a force feedback hand controller. The interactive interface is used for fine joint control and displays the current state of the mechanical arm. The force feedback hand controller is used for remote control of the robot by the operator and provides force feedback.

[0008] The slave end at least includes a mechanical arm, a camera and a force sensor. The mechanical arm is used for operation. The camera is used for obtaining a global view. The force sensor is used for obtaining the interaction force information between the mechanical arm and the environment.

[0009] The force feedback hand controller and the mechanical arm are isomorphic.

[0010] In order to achieve the above-mentioned objectives, the present invention also adopts the following technical solution: a remote operation control method based on an isomorphic force feedback hand controller, setting a force mapping from a slave-end robotic arm to a master-end force feedback hand controller, feeding back the force information collected by the force sensor at the end of the robotic arm to the force feedback hand controller, and performing position control of the slave-end robotic arm by operating the master-end hand controller or an interactive interface; the position control includes coarse joint control, fine joint control, and end control; wherein the force sensor coordinate system and the force feedback hand controller end coordinate system coincide with each other.

[0011] As an improvement of the present invention, the following steps are cyclically performed at each time step to complete the force mapping from the slave end manipulator to the master end force feedback hand controller:

[0012] A1: Read the current sensor posture, that is, the end posture R of the robotic arm sc , and read the output F of the sensor in its own coordinate system s ;

[0013] A2: Calculate the transformation matrix of the sensor coordinate system relative to the hand controller coordinate system is the transformation matrix of the robot arm base coordinate system relative to the hand controller base coordinate system;

[0014] A3: Convert the force information into the hand controller coordinate system.

[0015] A4: F m The feedback force F is obtained through the nonlinear mapping function t , and sent to the force feedback hand controller.

[0016] As an improvement of the present invention, in the coarse joint control, the changes in the joint angles of the force feedback hand controller are mapped to the joint angles of the slave end robot arm;

[0017] In the fine-tuning joint control, the value of a single joint angle is changed by clicking the plus and minus buttons of each joint in the interactive interface;

[0018] In the end control, the relative position change of the end of the force feedback hand controller is mapped to the end of the slave robot arm;

[0019] Set the control mode S c , when the control mode S c =1, the operator's current control mode is the coarse joint control mode; when the control mode S c = 0, the operator's current control mode is the end control mode; the coarse joint control and end control are incrementally controlled by the buttons on the force feedback hand controller; set the button state S b , button status S b=1 means the button is pressed and the robot arm is controlled by the operator; the button status S b =0 means that the button is not pressed, the robot arm is not controlled by the hand controller, the coarse joint control and the end control are inactive, and the operator can move the hand controller freely; the fine joint control can selectively work simultaneously with the coarse joint control or the end control.

[0020] As another improvement of the present invention, the specific method of the coarse joint adjustment control is as follows:

[0021] S1: Read the current force feedback hand controller joint angle A mc And the current robot arm joint angle information A sc ;

[0022] S2: Button status S b Make a judgment, when S b = 0, no operation is performed, and steps S1 and S2 are looped; when the key is pressed, S b When it changes from 0 to 1, execute step S3a; when S b =1, execute S3b;

[0023] S3a: Record the current hand controller joint angle A mc And the current robot arm joint angle information A sc , respectively, are the initial hand controller joint angle A m0 and the initial robotic arm joint angle information A s0 , that is, A m0 =A mc ,A s0 =A sc , return to step S1 and loop operation;

[0024] S3b: Calculate the hand controller joint angle increment ΔA=A based on the current hand controller joint angle and the initial hand controller joint angle mc -A m0 ;

[0025] S4: Calculate the target joint angle A of the robotic arm based on the joint angle increment of the hand controller and the current joint angle of the robotic arm st =A s0 +ΔA*k A , where k A It is the angle scaling factor and is sent to the robotic arm to make the robotic arm joints follow the movement of the hand controller.

[0026] As another improvement of the present invention, the fine-tuning of joint control specifically includes the following steps:

[0027] S1': Read the current joint angle information of the robot arm A sc ;

[0028] S2': Obtain the operator's operation button on the interactive interface, determine the target robot arm joint i and the corresponding angle increment as ±Δα;

[0029] S3': According to the current joint angle of the robot arm and the corresponding angle increment, the target joint angle A of the robot arm is obtained by adding them together. st , and sent to the robotic arm.

[0030] As another improvement of the present invention, the terminal control specifically includes the following steps:

[0031] S1": Read the current position X of the force feedback hand controller end relative to the force feedback hand controller base coordinate system mc and Posture R mc , the current position X of the end of the manipulator relative to the manipulator base coordinate system sc and Posture R sc ;

[0032] S2": for key status S b Make a judgment, when S b = 0, no operation is performed, and steps S1 and S2 are looped; when the key is pressed, S b When it changes from 0 to 1, execute S3a"; when S b =1, execute S3b";

[0033] S3a”: Record the current hand controller end pose and the current robot arm end pose, which are the initial hand controller end pose and the initial robot arm end pose, i.e. X m0 =X mc ,R m0 =R mc ,X s0 =X sc ,R s0 =R sc , return to step S1″ loop operation;

[0034] S3b”: Calculate the current change in the end position of the hand controller ΔX m and attitude change ΔR m ;

[0035] S4”: Change the end position of the hand controller by ΔX m Transform to the robot base coordinate system The hand controller end posture change ΔR m Transform to the robot base coordinate system through similarity transformation

[0036] S5": Calculate the target position X of the manipulator according to the manipulator's posture change and initial posture. st =X s0 +ΔXs *k x , where k x is the displacement scaling factor, and the target posture of the manipulator R st =ΔR s *R s0 ;

[0037] S6”: According to the target position of the manipulator, use the analytical method to perform inverse kinematics analysis to solve the target joint angle A of the manipulator st , and sent to the robotic arm.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] (1) The present invention discloses a remote operation control system and method based on an isomorphic force feedback hand controller, designs different master-slave mapping methods, and simultaneously meets the operational requirements of rapid movement and fine operation of the robotic arm, improves the applicability and flexibility of the remote operation system, avoids the limitations of single joint angle control and end control, can be applied to complex operational tasks, and realizes efficient and accurate remote operation.

[0040] (2) The present invention is based on an isomorphic hand controller that is highly consistent in structure and kinematics with the controlled robotic arm, making operation more intuitive and natural. The operator can control the robotic arm in a manner similar to their own body movements, reducing learning and operational difficulty and improving operational precision and efficiency.

[0041] (3) This invention introduces force feedback mapping to enhance the telepresence of teleoperation systems and broaden the dimensions of human-machine interaction. The introduction of force feedback can more accurately simulate actual operating scenarios, enhancing the operator's perception and control of the remote environment, thereby providing greater safety and reliability in complex tasks.

[0042] (4) The present invention realizes incremental control by force-controlling the hand controller button, thereby increasing the motion space and control accuracy of the control end. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a control principle diagram of the teleoperation control method based on the isomorphic force feedback hand controller of the present invention;

[0044] Figure 2 is a flow chart of the steps of the coarse adjustment joint control mode in the method of the present invention;

[0045] Figure 3 is a flow chart of the steps for fine-tuning the joint control mode in the method of the present invention;

[0046] Figure 4 This is an interactive graphical interface diagram used for fine-tuning joint control in the present invention;

[0047] Figure 5 is a step flow chart of the end control mode in the present application;

[0048] Figure 6 is a structural diagram of the Universal Robot 10 used in the present application;

[0049] Figure 7 is a step flow chart of the force feedback mapping in the method of the present application. DETAILED DESCRIPTION

[0050] The present application is further illustrated below in conjunction with the accompanying drawings and specific embodiments, and it should be understood that the following specific embodiments are only used to illustrate the present application and are not used to limit the scope of the present application.

[0051] Example 1

[0052] A teleoperation control system based on an isomorphic force feedback hand controller, suitable for occasions requiring both fast movement and accurate adjustment, is composed of a master end and a slave end. The master end contains an interactive interface and a force feedback hand controller, and the slave end contains a robot arm, a camera and a force sensor, wherein the hand controller and the robot arm are isomorphic. During operation, the operator performs remote operation based on a global view provided by the camera.

[0053] The slave robot arm is controlled by operating the master hand controller or the interactive interface, which specifically includes three control modes: coarse joint control, fine joint control and end control. The fine joint control is realized through buttons on the interactive interface, and the coarse joint control and the end control use the master hand controller, while the force of the slave robot arm is simultaneously mapped and fed back to the master hand controller.

[0054] The teleoperation control method based on an isomorphic force feedback hand controller allows the operator to select to use coarse joint control or end control through the interactive interface. Fine joint control can act simultaneously with coarse joint control or end control. End control is used in scenarios requiring fast movement, while joint control, i.e., coarse joint control and fine joint control, is used when accurate control of the robot arm is required.

[0055] Example 2

[0056] The control principle of the teleoperation control method based on an isomorphic force feedback hand controller is shown in Figure 1 . In the coarse joint control mode, the operator controls the master hand controller to change the joint angle value A m , and the computer multiplies the joint angle change by the angle scaling coefficient k A as the joint angle increment of the slave robot arm; if the operator sends a fine control instruction for a specific joint angle through the graphical interface, a fine increment is added to the increment, introducing a new joint angle value A stSent to the slave robot via the communication network.

[0057] In the end control mode, the operator controls the main hand controller to change its end position X m and Posture R m The computer maps the position change and posture change of the end of the hand controller to the base coordinate system of the slave robot, and then superimposes them with the initial posture of the robot to obtain the target posture of the robot. The new target posture of the slave robot after the increment is subjected to inverse kinematics analysis to obtain the joint angle value A. st If the operator sends a fine-tuning control instruction for a specific joint angle through the graphical interface, the fine-tuning increment is added and sent to the slave robot arm through the communication network.

[0058] The force of the slave manipulator is mapped to the master hand controller. The force sensor coordinate system and the hand controller end coordinate system coincide, that is, they change with the hand controller end position. After reading the current sensor output, the rotation matrix between the sensor coordinate system and the hand controller base coordinate system is calculated to convert the force information into the hand controller coordinate system to represent F m , and then the feedback force F is obtained through the nonlinear mapping function t , and sent to the force feedback hand controller.

[0059] In this example, a 3D Systems Touch hand controller and a Universal Robot 10 were used as slave robotic arms, using the ROS robot operating system. Joint angle controllers were used to send commands to control the robotic arms. The hand controller and robotic arm are isomorphic, sharing the same structural configuration and possessing six degrees of freedom.

[0060] The operator selects the coarse joint control or end control mode through the interactive interface. Fine joint control can be used simultaneously with coarse joint control or end control. End control is used when fast movement is required, while joint control is used when precise control of the robot arm is required. Set the control mode S c When the control mode S c =1, the operator's current control mode is the coarse joint control mode. When the control mode S c =0, the operator's current control mode is the terminal control mode.

[0061] Coarse joint control and end control rely on incremental control on the hand controller buttons to increase the hand controller workspace. The control amount is only related to the relative change after pressing the hand controller button, and has nothing to do with the current absolute position and joint angle state. Set the button state S b , button status S b =1 means the button is pressed, and the robot arm is controlled by the hand controller. The button status S b=0 means the button is not pressed. At this time, the robot arm is not controlled by the hand controller and the operator can freely move the hand controller to a comfortable position.

[0062] Joint angle control can precisely control each joint and provide high-precision operation. Joint control has a clearer control effect on posture. Coarse joint control and incremental control map the change in the joint angle of the homogeneous hand controller to the joint space of the robot arm. The specific steps include: Figure 2 As shown:

[0063] S1: Read the current hand controller joint angle A through the hand controller interface and the robot arm interface mc , and the current robot arm joint angle information A sc , A mc and A sc All are six-dimensional vectors;

[0064] S2: Current button status of the controller S b Make a judgment, when S b = 0, no operation is performed, and S1 and S2 are looped; when S b When it changes from 0 to 1, that is, the moment the key is pressed, step S3a is executed; when S b =1, execute S3b;

[0065] S3a: Record the current hand controller joint angle A mc And the current robot arm joint angle information A sc , respectively are the initial hand controller joint angle A m0 and the initial robotic arm joint angle information A s0 , that is, A m0 =A mc ,A s0 =A sc , return to step S1 and loop operation;

[0066] S3b: Calculate the hand controller joint angle increment ΔA=A based on the current hand controller joint angle and the initial hand controller joint angle mc -A m0 ;

[0067] S4: Calculate the target joint angle A of the robotic arm based on the joint angle increment of the hand controller and the current joint angle of the robotic arm st =A s0 +ΔA*k A , where k A is the angle scaling factor; the target joint angle is sent to the robot arm so that the robot arm joint follows the movement of the hand controller. To maintain accuracy, k A Set to less than 1.

[0068] The fine-tuning joint control can further achieve more precise control based on the coarse-tuning joint control. The operator sets the target angle of the robot arm's specified joint through the buttons on the interactive interface. Figure 4 As shown, the addition and subtraction of each joint on the interface is used to set the joint change. Set the angle change Δα corresponding to each button click in advance, which specifically includes the following steps: Figure 3 As shown:

[0069] S1': Read the current joint angle information of the robot arm A sc .

[0070] S2': Obtain the operator's operation buttons on the interactive interface, determine the target robot arm joint i, and the corresponding angle increment is ±Δα.

[0071] S3': Calculate the target joint angle A of the manipulator based on the current manipulator joint angle and the corresponding angle increment st , and sent to the robotic arm.

[0072] Assume that there are six robotic arm joints and the current robotic arm joint angles are 10°, 20°, 0°, 0°, 0°, 0°. If 5° is added to robotic arm joint 2, the target joint angles are 10°, 25°, 0°, 0°, 0°, 0°.

[0073] End control is more intuitive, but the overall posture of the manipulator is not unique. End control and incremental control specifically map the posture change of the hand controller end to the manipulator end coordinate system. The coordinate system mapping relationship is fixed and does not change with the change of the manipulator end posture. In this embodiment, the hand controller base coordinate system is set as M and the manipulator base coordinate system is set as S. The system involves the hand controller base coordinate system M and the manipulator base coordinate system S, and uses Represents the transformation matrix of the robot base coordinate system relative to the hand controller base coordinate system. The system involves the hand controller base coordinate system M and the robot base coordinate system S, Represents the transformation matrix of the robot base coordinate system relative to the hand controller base coordinate system. Figure 5 As shown, the following steps are performed in each time step loop:

[0074] In this embodiment, the robot arm base coordinate system is obtained by rotating the hand controller base coordinate system 45 degrees around the Z axis. At this time:

[0075]

[0076] The terminal control mode includes the following steps:

[0077] S1": Read the current position X of the end of the hand controller relative to the hand controller base coordinate system through the hand controller interface and the robot arm interface mc and Posture R mc, the current position X of the end of the manipulator relative to the manipulator base coordinate system sc and Posture R sc To unify the coarse joint control mode, the end-of-arm position can also be obtained by reading the joint angle of the robot arm and then solving the kinematics forward solution of UR10.

[0078] S2": for key status S b Make a judgment, when S b =0 does not perform any operation, loops S1" and S2"; when S b When it changes from 0 to 1, that is, when the key is pressed, execute S3a"; when S b =1, execute S3b";

[0079] S3a”: Record the current hand controller end pose and the current robot arm end pose, which are the initial hand controller end pose and the initial robot arm end pose, i.e. X m0 =X mc ,R m0 =R mc ,X s0 =X sc ,R s0 =R sc , return to step S1" loop operation;

[0080] S3b”: Calculate the current change in the end position of the hand controller ΔX m and attitude change ΔR m ; For the position change of the hand controller ΔX m =X mc -X m0 , for the hand controller posture change ΔR m =R m0 -1 *R mc ;

[0081] S4”: Change the end position of the hand controller by ΔX m Transform to the robot base coordinate system The hand controller end posture change ΔR m Transform to the robot base coordinate system through similarity transformation

[0082] S5": Calculate the target position X of the manipulator according to the manipulator's posture change and initial posture. st =X s0 +ΔX s *k, where k is the displacement scaling factor. Since the hand controller’s working space is much smaller than the robot’s motion space, k is set to 5. The robot’s target posture R st =ΔR s *Rs0 ;

[0083] S6": Get the target pose X from the robot arm st and R st Finally, for robotic arms without redundant degrees of freedom, analytical methods are often used to directly calculate the joint angle values. The solution process is a typical nonlinear equation solution process.

[0084] This example uses Universal Robot 10 as the slave robot arm. The coordinate relationship and structure diagram of each joint are as follows: Figure 6 As shown. Assume that the target pose matrix is

[0085]

[0086] Combining the robotic arm structure and analytical method, the joint angle values ​​from the base to the end are θ1, θ2, θ3, θ4, θ5, and θ6 respectively.

[0087]

[0088] θ5=atan2(s5,ax×s1-ay×c1)

[0089]

[0090] in, A=2a 2 E, B = 2a 2 D, C = D 2 +E 2 +a2 2 +a3 2 , D=px×c1+py×s1+d5×s 234 , E=pz–d1+d5×c 234 , s 234 =sin(θ2+θ3+θ4), c 234 =cos(θ2+θ3+θ4).

[0091] The solution set of nonlinear equations is not unique. Due to the existence of invalid solution sets caused by singular points and other problems, the number of valid solution sets varies with the input, and the optimal solution needs to be screened out. According to the analytical method, the n solution sets are obtained as q i (i=1,2,...,n), the current joint angle of the slave robot is A s , select a set of solutions i with the smallest sum of the absolute values ​​of the differences from the current robot arm joint angles * As the new joint angle, and sent to the robotic arm.

[0092]

[0093] During the entire teleoperation process, a force mapping is set from the end manipulator to the master hand controller, and the force information collected by the end force sensor of the manipulator is fed back to the force feedback hand controller. The force sensor coordinate system and the end hand controller coordinate system coincide, that is, they change with the end hand controller posture. The following steps are executed in each time step loop, such as Figure 7 As shown:

[0094] A1: Read the current sensor posture, that is, the end posture of the robotic arm R sc , and read the output F of the sensor in its own coordinate system s ;

[0095] A2: Calculate the transformation matrix of the sensor coordinate system relative to the hand controller coordinate system

[0096] A3: Convert the force information into the hand controller coordinate system.

[0097] A4: F m The feedback force F is obtained through the nonlinear mapping function t , and send it to the force feedback hand controller; calculate F m The resultant force F magnitude , after a nonlinear function Get new combined force F new , through the nonlinear function, the fluctuation caused by zero drift is eliminated and the upper limit of the force feedback force is achieved to be 2N. Calculate the force proportional coefficient k ratio =F new / F magnitude The original three-dimensional force is scaled to obtain the force feedback F acting on the hand controller. t =F m *k ratio , and finally F t Acts on the hand control.

[0098] It should be noted that the above content merely illustrates the technical idea of ​​the present invention and cannot be used to limit the scope of protection of the present invention. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications all fall within the scope of protection of the claims of the present invention.

Claims

1. A teleoperation control system based on a homogeneous force feedback hand controller, characterized in that : Consists of a master end and a slave end; The master terminal includes at least an interactive interface and a force feedback hand controller; the interactive interface is used to fine-tune joint control and display the current state of the robotic arm, and the force feedback hand controller is used by the operator to remotely control the robot and provide force feedback; The slave end includes at least a robotic arm, a camera, and a force sensor; the robotic arm is used to perform operations, the camera is used to obtain a global view, and the force sensor is used to obtain information about the interaction force between the robotic arm and the environment; Among them, the force feedback hand controller and the robotic arm are isomorphic; The teleoperation control method of the system based on the isomorphic force feedback hand controller is specifically as follows: setting a force mapping from the slave-end manipulator arm to the master-end force feedback hand controller, feeding back the force information collected by the force sensor at the end of the manipulator arm to the force feedback hand controller, and performing position control on the slave-end manipulator arm by operating the master-end hand controller or the interactive interface; the position control includes coarse joint control, fine joint control and end control; wherein, in coarse joint control, the change of each joint angle of the force feedback hand controller is mapped to the joint angle of the slave-end manipulator arm; in fine joint control, the value of a single joint angle is changed by clicking the plus or minus button of each joint in the interactive interface; in end control, the relative posture change of the end of the force feedback hand controller is mapped to the end of the slave-end manipulator arm; the force sensor coordinate system and the force feedback hand controller end coordinate system coincide with each other; The following steps are executed in each time step loop to complete the force mapping from the slave end manipulator to the master end force feedback hand controller: A1: Read the current sensor posture, that is, the posture of the end of the robotic arm , and read the output of the sensor in its own coordinate system ; A2: Calculate the transformation matrix of the sensor coordinate system relative to the hand controller coordinate system , is the transformation matrix of the robot arm base coordinate system relative to the hand controller base coordinate system; A3: Convert the force information into the hand controller coordinate system. ; A4: The feedback force is obtained through the nonlinear mapping function , and sent to the force feedback hand controller.

2. The teleoperation control system based on the isomorphic force feedback hand controller according to claim 1, characterized in that: Set the control mode , when the control mode =1, the operator's current control mode is the coarse joint control mode; when the control mode =0, the operator's current control mode is the end control mode; the coarse joint control and end control are incrementally controlled by the buttons on the force feedback hand controller; set the button state , button status =1 means the button is pressed and the robot arm is controlled by the operator; button status =0 means that the button is not pressed, the robotic arm is not controlled by the hand controller, the coarse joint control and the end control are inactive, and the operator can move the hand controller freely; the fine joint control can selectively work simultaneously with the coarse joint control or the end control.

3. The teleoperation control system based on the isomorphic force feedback hand controller according to claim 2, characterized in that: The specific method of the coarse joint control is as follows: S1: Read the current force feedback hand controller joint angle And the current robot arm joint angle information ; S2: Button status Make a judgment, when When the button is pressed, no operation is performed and steps S1 and S2 are looped. When it changes from 0 to 1, execute step S3a; when When , execute S3b; S3a: Record the current hand controller joint angle And the current robot arm joint angle information , respectively, are the initial hand controller joint angles and initial robotic arm joint angle information ,Right now , return to step S1 and loop; S3b: Calculate the hand controller joint angle increment based on the hand controller's current joint angle and the initial hand controller joint angle ; S4: Calculate the target joint angle of the robotic arm based on the joint angle increment of the hand controller and the current joint angle of the robotic arm ,in It is the angle scaling factor and is sent to the robotic arm to make the robotic arm joints follow the movement of the hand controller.

4. The teleoperation control system based on the isomorphic force feedback hand controller according to claim 3, characterized in that: The fine-tuning of joint control specifically includes the following steps: S1': Read the current joint angle information of the robotic arm ; S2': Get the operator's operation button on the interactive interface and determine the target robotic arm joint and the corresponding angle increment is ; S3': According to the current joint angle of the robot arm and the corresponding angle increment, the target joint angle of the robot arm is obtained by adding them together. , and sent to the robotic arm.

5. The teleoperation control system based on the isomorphic force feedback hand controller according to claim 2, characterized in that: The terminal control specifically includes the following steps: S1'': Read the position of the current force feedback hand controller end relative to the force feedback hand controller base coordinate system and posture , the current position of the end of the manipulator relative to the manipulator base coordinate system and posture ; S2'': Button status Make a judgment, when Do not perform any operation, loop step S1 and step S2; when When it changes from 0 to 1, execute S3a''; when Execute S3b''; S3a'': Record the current hand controller end pose and the current robot arm end pose, which are the initial hand controller end pose and the initial robot arm end pose, respectively. , return to step S1'' loop operation; S3b'': Calculate the current change in the end position of the hand controller and posture change ; S4'': Change the end position of the hand controller Transform to the robot base coordinate system , change the hand controller end posture Transform to the robot base coordinate system through similarity transformation ; S5'': Calculate the target position of the robotic arm based on the change in the robotic arm's posture and the initial posture ,in is the displacement scaling factor, the target posture of the manipulator ; S6'': According to the target posture of the manipulator, use the analytical method to perform inverse kinematics analysis to solve the target joint angle of the manipulator , and sent to the robotic arm.

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