Double-arm teleoperation system and method based on variable stiffness virtual wall and damping force field

Abstract

The invention discloses a double-arm teleoperation system and method based on a variable stiffness virtual wall and a damping force field, the system is composed of a master end and a slave end, the master end comprises a double-hand controller, a man-machine interaction interface, a virtual scene generation unit and a calculation unit, and the slave end comprises double mechanical arms and a vision and depth sensor. Wherein the calculation unit is used for receiving a control instruction of a master-end double-hand controller, generating a double-mechanical-arm control instruction of the slave end after a master-end virtual wall and a damping force field algorithm, transmitting force feedback to the master-end double-hand controller, and transmitting depth information and visual information to the virtual scene generation module. According to the system and the method, collision early warning is performed on an operator in a force feedback form through a hand controller at a main end, a dynamic safety coefficient is set to update the rigidity of the virtual wall in real time, a damping force field is set according to the variable-rigidity virtual wall, and the experience of man-machine interaction in a double-arm teleoperation process is also improved; natural and effective interaction between the two arms, between the master end and the slave end and between the master end and an operator is achieved, and the possibility of collision and misoperation in the remote operation process of the two arms is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of robot teleoperation control, and mainly relates to a dual-arm teleoperation system and method based on a variable stiffness virtual wall and a damping force field. Background Art

[0002] Robot teleoperation technology refers to the robot control technology in which the operator sends control instructions to the slave end through the master end control loop and the communication link, and the slave end control loop receives the instructions to control the robot to complete the task. Teleoperated robots are often used for robot control in complex environments and time-delay environments. Through the human-in-the-loop control mode, some tasks that are difficult for autonomous robots to complete can be completed.

[0003] In terms of the selection of the robotic arm used by the teleoperated slave, the dual-arm teleoperated robot is more functional, flexible, and has a stronger load capacity than the single-arm teleoperated robot, and can complete some more complex tasks. Since the slave's two arms have overlapping workspaces, improper operation during the control process may cause the two arms of the robot to interfere with each other, posing a safety hazard of collision between the two arms.

[0004] In order to achieve safe control of dual-arm teleoperated robots, traditional control methods often choose to set static or dynamic virtual walls on the slave robot arm. The control mode of setting a virtual wall on the slave side cannot intuitively feedback the information of crossing the virtual wall to the operator. In the absence of relevant information about the virtual wall on the slave side, the operator will have cognitive biases about the position and state of the robot arm after the virtual wall acts. Not only that, the existing virtual walls are all fixed stiffness, lack flexibility, and cannot be dynamically adjusted according to changes in the operating environment and changes in task requirements. In simple tasks, the fixed stiffness may be too high, limiting the flexibility of the operation, while in tasks that require high-precision positioning, the stiffness may be too low, affecting the stability of the operation.

[0005] At the same time, in the general teleoperation force feedback process, the host system will only transmit force information to the operator after the end of the actuator interacts with the environment. Before the robot arm contacts the operation object or obstacle, the operator can only infer the distance relationship with the operation object and obstacle through visual information and other means. During the operation, it is difficult to grasp the movement range and speed of the robot arm, which is prone to misjudgment or misoperation, and there are certain safety hazards. Summary of the invention

[0006] The present invention is aimed at the problem that the dual-arm remote-operated robot is prone to collision due to improper operation in the existing dual-arm remote-operation safety control technology, and provides a dual-arm remote-operated system and method based on a variable stiffness virtual wall and a damping force field, which is composed of a master end and a slave end. The master end includes a dual controller, a human-computer interaction interface, a virtual scene generation unit and a calculation unit, and the slave end includes a dual mechanical arm, a vision and depth sensor, wherein the calculation unit is used to receive the control instructions of the dual controllers of the master end, and after the master end virtual wall and damping force field algorithm, the dual mechanical arm control instructions of the slave end are generated, and the force feedback is transmitted to the dual controllers of the master end, and the depth information and visual information are transmitted to the virtual scene generation module. The system and method provide collision warning to the operator in the form of force feedback through the hand controller at the master end, set the dynamic safety factor to update the stiffness of the virtual wall in real time, set the damping force field according to the variable stiffness virtual wall, and also increase the experience of human-computer interaction during the dual-arm remote operation process, realize natural and effective interaction between the two arms, between the master end and the slave end, and between the master end and the operator, and avoid the possibility of collision and misoperation during the dual-arm remote operation process.

[0007] In order to achieve the above purpose, the technical solution adopted by the present invention is: a dual-arm teleoperation system based on a variable stiffness virtual wall and a damping force field, which is composed of a master end and a slave end. The master end includes a dual-hand controller, a human-computer interaction interface, a virtual scene generation unit and a calculation unit; the slave end includes a dual robotic arm, a vision and depth sensor; wherein,

[0008] The dual robotic arms are used to realize teleoperation scenario tasks;

[0009] The vision and depth sensor is used to obtain working environment information and distance information, and provide proximity information to the computing unit of the master end for three-dimensional reconstruction of the scene;

[0010] The dual hand controllers correspond to the dual mechanical arms of the slave end and are used to provide control instructions for the dual mechanical arms and provide force feedback to the operator;

[0011] The virtual scene generation unit is used to generate a virtual reality scene after the acquired working environment information is processed by the computing unit, and output the virtual reality scene to the human-computer interaction interface;

[0012] The human-computer interaction interface is used to provide a remote operation human-computer interaction interface and feed back the virtual reality scene generated by the virtual scene generation unit to the operator;

[0013] The computing unit is used to receive control instructions from the dual controllers on the master end, generate dual robotic arm control instructions on the slave end after the master end virtual wall and damping force field algorithm, transmit force feedback to the dual controllers on the master end, and transmit depth information and visual information to the virtual scene generation module.

[0014] As an improvement of the present invention, the three-dimensional reconstruction includes the three-dimensional reconstruction of the robotic arm itself and the reconstruction of the working environment and obstacles. The three-dimensional reconstruction of the robotic arm itself is performed by establishing a robotic arm geometric model and current joint angle information in advance; the three-dimensional reconstruction of the working environment and obstacles is performed based on point cloud depth information and color images obtained by vision and depth sensors.

[0015] In order to achieve the above object, the present invention also adopts a technical solution: a dual-arm teleoperation method based on a variable stiffness virtual wall and a damping force field, comprising at least the following steps:

[0016] S1, scene reconstruction: On the master end, by building a geometric model in advance and receiving the angle values ​​of each joint of the current robotic arm, the current posture of the two arms is reconstructed in three dimensions;

[0017] S2, variable stiffness dynamic virtual wall setting: Combined with the current dual-arm posture, two variable stiffness virtual walls are generated in real time. The variable stiffness dynamic virtual walls are perpendicular to the working plane and correspond to the two robotic arms respectively;

[0018] S3, damping force field setting: according to the virtual wall generated in step S2 and its stiffness, a corresponding damping force field is set, wherein the damping force field includes the virtual wall and the surrounding area;

[0019] S4, motion prediction: the master hand controller obtains the operator's instructions and predicts the new position that the arms will reach based on the instructions;

[0020] S5, setting force feedback and command processing: according to the current position of the robot arm and the damping force field obtained in step S3, force feedback is applied to the hand controller, and according to the current virtual wall stiffness, motion commands are processed to achieve safety control.

[0021] As an improvement of the present invention, in step S2, the normal vector direction of the virtual wall is determined according to the direction vector formed by the end of the robotic arm on one side and the nearest point of the robotic arm on the other side, and the two virtual walls are parallel to each other.

[0022] As another improvement of the present invention, the virtual wall in step S2 has its stiffness determined by a dynamic safety factor μ. When the safety factor μ=1, the virtual wall is completely impenetrable; when the safety factor μ=0, the virtual wall does not exist; when the safety factor μ is between 0 and 1, the virtual wall is in a variable stiffness state.

[0023] As another improvement of the present invention, the safety factor μ is related to the robot arm moving speed e speed 、Preset safety factor e for the current operation task task 、Environmental factors environment and the relationship between the current position of the robot and the workspace pos Related, specifically:

[0024] μ=ω1*e speed +ω2*e task +ω3*e environment +ω4*e pos

[0025] Among them, ω1, ω2, ω3, and ω4 are the weights of each factor.

[0026] As a further improvement of the present invention, in step S3, when the dynamic safety factor μ changes from 1 to 0, the virtual wall is in a variable stiffness state, and the damping force field is along the direction of the normal vector of the dynamic virtual wall, and there is a transition area Δ from 0 to the maximum damping force on the boundary of the virtual wall. d , the maximum damping force increases with the increase of safety factor μ, and the damping force field is composed of the transition area Δ d , virtual wall thickness h, and point to virtual wall distance l are generated.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] (1) This method is highly secure. Both the virtual wall and the damping force field act on the master end. Before the command is sent to the slave end, the potential collision risk can be warned and handled, thus preventing accidents from happening.

[0029] (2) This method is highly flexible. The virtual wall is dynamically updated in real time and its stiffness can be adjusted according to specific task requirements and mechanical status, making it suitable for a variety of operating environments.

[0030] (3) This method provides a strong sense of immersion for the operator. The operator can understand the working status of the dual-arm collaboration through force feedback while controlling the dual-arm robot to complete the task. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the dual-arm teleoperation system based on a variable stiffness virtual wall and a damping force field of the present invention;

[0032] Figure 2 It is a schematic diagram of realizing the double-arm variable stiffness virtual wall of the present invention;

[0033] Figure 3 It is a flow chart of the steps of the dual-arm teleoperation method based on the variable stiffness virtual wall and damping force field of the present invention;

[0034] Figure 4 is a schematic diagram of factors related to the variable stiffness virtual wall of the present invention;

[0035] Figure 5 It is an example diagram of the damping force field in the present invention. DETAILED DESCRIPTION

[0036] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0037] Example 1

[0038] A dual-arm teleoperation system based on variable stiffness virtual wall and damping force field, such as Figure 1 As shown, it includes: a dual hand controller, a human-computer interaction interface, a virtual scene generation unit, and a computing unit on the master side, and a dual robotic arm, a vision and depth sensor on the slave side.

[0039] The dual robotic arms of the slave end are equipped with robotic grippers to achieve specific teleoperation scenario tasks. Among them, there is an intersection between the workspaces of the two robotic arms to complete the dual-arm collaborative work. In this embodiment, two Universal Robot 10s are used as slave robotic arms, each equipped with a robotiq two-finger electric gripper to achieve specific teleoperation scenario tasks.

[0040] The vision and depth sensors of the slave end are used to obtain the working environment information and the distance between the end of the robot arm and the target object or obstacle, and provide proximity information to the master end computing unit for 3D reconstruction. This embodiment uses RealSense as the vision and depth sensor of the slave end to obtain information such as the environment and obstacles around the robot arm and provide it to the master end computing unit.

[0041] The computing unit of the master end is used to receive the control instructions of the master end dual-hand controller, and after the master end virtual wall and damping force field algorithm, generate the corresponding slave end dual-manipulator control instructions, transmit the calculated force feedback to the master end dual-hand controller, and provide the depth information and visual information to the virtual reality generation module.

[0042] The virtual scene generation unit of the master end is used to generate a virtual reality scene after processing the dual robotic arms and environmental information of the slave end by the computing unit, and display it on the human-computer interaction interface.

[0043] The computing unit and virtual scene generation unit of the host end are specifically integrated in the host end computer.

[0044] The dual hand controllers at the master end correspond to the dual robotic arms at the slave end, and each hand controller is used to provide control instructions for the corresponding robotic arm and provide a certain force feedback to the operator; the certain force feedback is provided after being calculated in the calculation unit by the variable stiffness virtual wall and the damping force field algorithm. In this embodiment, two 3D SYSTEMS touch hand controllers are used, corresponding to the dual robotic arms at the slave end, and each hand controller is used to provide control instructions for the corresponding robotic arm and provide a certain force feedback to the operator, and the force feedback is specifically implemented through the touch hand controller drive interface.

[0045] The human-computer interaction interface of the host terminal is used to provide a remote human-computer interaction interface and display a virtual scene to the operator, and can specifically exist in the form of a display screen. In this embodiment, Unity is used to build the human-computer interaction interface.

[0046] In this system, the operator observes the interactive interface and controls the hand controller, which transmits the control instructions to the calculation unit. The control instructions can also be generated and sent through the interactive interface. The calculation unit contains a variable stiffness virtual wall and a damping force field algorithm, which transmits the generated robotic arm control instructions to the slave robotic arm through the communication module, so that the robotic arm responds. At the same time, the visual depth sensor provides proximity information, and the robotic arm feeds back its own state and environmental information to the master through the communication module. The calculation unit processes the virtual scene generation unit and displays it in the human-computer interaction interface. At the same time, the calculation unit calculates the force feedback information and acts on the hand controller, which is fed back to the operator.

[0047] Therefore, the dual-arm remote operation safety control system based on variable stiffness virtual wall and damping force field provided by the present invention can realize safe, efficient and highly interactive dual-arm remote operation control, and improve the control accuracy and operation feeling during the operation process.

[0048] Example 2

[0049] Dual-arm teleoperation method based on variable stiffness virtual wall and damping force field, such as Figure 3 As shown, the following steps are included:

[0050] Step S1, scene reconstruction: real-time 3D reconstruction of the dual robot arm posture and working environment of the slave end is performed on the master end;

[0051] The scene reconstruction is divided into three-dimensional reconstruction of the robot arm and reconstruction of the working environment. The three-dimensional reconstruction of the robot arm itself is performed by establishing the robot arm geometric model and current joint angle information in advance; the three-dimensional reconstruction of the working environment and obstacles is performed based on the point cloud depth information and color images obtained by the vision and depth sensors.

[0052] Specifically, for known structures such as robotic arms, the model import method is used, with the help of SolidWorks and OpenGL geometric modeling tools, to establish the CAD model of each joint of the robotic arm according to the parameters of the robotic arm, and import it into the local computer for joint module splicing and rendering, and establish an accurate geometric model of the virtual robotic arm. Combined with the feedback information of the robotic arm, real-time robotic arm joint angle information is obtained to complete the three-dimensional reconstruction of the dual-arm robot. For more complex working environments, a combination of laser radar and RGBD camera is used to establish a 3D reconstruction model based on multi-sensor fusion to complete the geometric modeling of complex environments. It is completed in six steps: sensor calibration, feature point extraction, point cloud matching, global optimization, data fusion and model extraction.

[0053] Step S2, setting of a dynamic virtual wall with variable stiffness: calculating the safety factor μ to determine the stiffness of the virtual wall, and setting a dynamic virtual wall according to the current position of the arms;

[0054] like Figure 2 As shown, the variable stiffness dynamic virtual wall is perpendicular to the working plane, and two virtual walls are generated in real time corresponding to the two robotic arms. This embodiment establishes a virtual wall perpendicular to the xy plane, and projects the connecting rods and joints that make up the two arms onto the xy plane. Both the connecting rods and the virtual wall can be regarded as line segments on the xy plane. The projection point at the end of the left robotic arm is defined as p1, and the projection point at the end of the right robotic arm is defined as p2. First, the distance from p1 to all the projected line segments of the right robotic arm is calculated respectively, and the shortest distance and the corresponding closest point p in the right projection are obtained. n , p1 and p n The vector formed is the normal vector of the right arm virtual wall plane. At the same time, the distance threshold lw is set, that is, the distance from the right arm virtual wall to p n Do the same operation on p2 to generate two virtual walls, which are parallel to each other.

[0055] The virtual wall with variable stiffness is determined by the dynamic safety factor μ, and the safety factor μ is updated in real time. When the safety factor μ = 1, the virtual wall is completely impenetrable, when μ = 0, the virtual wall does not exist, and when μ is between 0 and 1, the virtual wall is in a variable stiffness state.

[0056] The safety factor is related to the movement speed of the robot arm, the preset safety factor of the current operation task, environmental factors, and the relationship between the current position of the robot arm and the workspace, such as Figure 4 shown.

[0057] The relationship between the safety factor and the moving speed of the robot arm is characterized in that the safety factor is adjusted according to the speed at which the robot arm approaches the virtual wall. When the speed is fast, the safety factor increases to prevent collision; when the speed is slow, the safety factor decreases to facilitate fine operation. Set v maxis the maximum moving speed of the robot arm, and the speed factor is defined as e speed =v / v max ,The current moving speed is obtained through the feedback information of the robot arm.

[0058] The relationship between the safety factor and the preset safety factor of the current operation task is characterized in that the operator presets the safety factor e according to the task type before performing the task. task It ranges from 0 to 1 and can be manually adjusted based on the human-computer interaction interface during operation to adapt to specific operational requirements.

[0059] The relationship between the safety factor and the environmental factor is characterized in that the safety factor is dynamically adjusted according to the environmental information obtained by the vision and depth sensors, and the environmental factor is defined as e environment , when the environment is more complex or close to obstacles, e environment Larger, while in simple environments, e environment In this embodiment, it is specifically reflected in the obstacle information obtained according to the acquired point cloud information.

[0060] The relationship factor between the current position of the robot and the workspace is characterized in that when the current position of the robot is in the common workspace of the two arms, the safety factor increases to ensure the stability of the operation. The position factor is defined as e pos In this embodiment, the collaborative workspace of the dual-arm robot is analyzed according to the improved Monte Carlo method to obtain the collaborative workspace of the dual-arm robot. When the end position of the robot arm is closer to the center of the collaborative space, e pos Increases, when the end position of the robot arm is far away from the collaborative space, e pos Reduce.

[0061] The dynamic safety factor is calculated by combining the above factors, μ = ω1*e speed +ω2*e task +ω3*e environment +ω4*e pos , where ω1, ω2, ω3, and ω4 are the weights of each factor, which are adjusted according to specific application scenarios and requirements. speed 、e task 、e environment 、e pos Belongs to 0 to 1.

[0062] S3, damping force field setting: in a specific implementation, the damping force field is set according to the virtual wall stiffness;

[0063] The damping force field is set according to the variable stiffness virtual wall, and the damping force changes with the virtual wall stiffness. As the safety factor μ changes from 1 to 0, the virtual wall stiffness continues to weaken, and the damping force field is along the direction of the dynamic virtual wall normal vector.

[0064] In this embodiment, the force and torque acting on the operator's hand must be guaranteed to change continuously, otherwise it will cause violent oscillations in the boundary area. Therefore, there is a transition area Δ from 0 to the maximum damping force on the boundary of the virtual wall. d .

[0065] cu=0(l>h / 2+Δ d )

[0066]

[0067] cu=1(l≤h / 2)

[0068] where Δ d is the width of the transition area, h is the thickness of the virtual wall, l c is the distance from the end point to the center of the virtual wall, such as Figure 5 As shown. The damping force field is defined as f region =cu*f max *e, where e is the virtual wall unit normal vector, f max is the maximum damping force and increases with the increase of the safety factor μ, corresponding to the impenetrability of the virtual wall.

[0069] S4, motion prediction: in the specific implementation, the new position that the arms will reach is predicted based on the instructions obtained by the master hand controller;

[0070] Motion prediction refers to mapping the movement posture of the touch hand controller to the end of the robot arm. The three joints at the back of the touch hand controller correspond to the Euler angles γ, β, and α respectively. According to the joint angles returned by the hand controller, the rotation matrix and displacement are solved. The posture of the end of the robot arm is mapped to the hand controller coordinate system, multiplied by the rotation matrix of the hand controller, and then transformed back to the robot arm coordinate system to obtain the predicted movement position of the robot arm.

[0071] S5, set force feedback, command processing: In the specific implementation, according to the current position of the robot arm and the damping force field, apply force feedback on the hand controller. According to the current virtual wall stiffness, process the motion command. When the safety factor is 1, the virtual wall is impenetrable. If it is predicted that the robot arm will cross the virtual wall, this control command is ignored.

[0072] Setting force feedback and command processing specifically means applying force feedback to the operator on the touch hand controller according to the current position and damping force field. At the same time, according to the virtual wall stiffness, the command is processed. When the motion prediction shows that one side of the robot arm will cross the dynamic virtual wall of the other side of the robot arm, the master end will ignore the motion command.

[0073] In summary, the present invention discloses a dual-arm teleoperated robot safety control method based on a variable stiffness virtual wall and a damping force field. The master-end virtual wall can predict and intervene in the collision of the two arms during teleoperation, and provide a collision warning to the operator in the form of force feedback through the hand controller at the master end. Combined with factors such as the movement speed of the robotic arm, the preset safety factor of the current operation task, environmental factors, and the relationship between the current position and the workspace, a dynamic safety factor is set to update the stiffness of the virtual wall in real time, and a damping force field is set according to the variable stiffness virtual wall. The above scheme is adopted to increase the experience of human-computer interaction during dual-arm teleoperation, realize natural and effective interaction between the two arms, between the master end and the slave end, and between the master end and the operator, and avoid the possibility of collision and misoperation during the dual-arm teleoperation process.

[0074] It should be noted that the above content only illustrates the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications all fall within the protection scope of the claims of the present invention.

Claims

1. A dual-arm teleoperation system based on a variable stiffness virtual wall and a damping force field, characterized in that : It consists of a master end and a slave end, wherein the master end includes a dual controller, a human-computer interaction interface, a virtual scene generation unit and a computing unit; the slave end includes a dual robotic arm, a vision and depth sensor; wherein, The dual robotic arms are used to realize teleoperation scenario tasks; The vision and depth sensor is used to obtain working environment information and distance information, and provide proximity information to the computing unit of the master end for three-dimensional reconstruction of the scene; The dual hand controllers correspond to the dual mechanical arms of the slave end and are used to provide control instructions for the dual mechanical arms and provide force feedback to the operator; The virtual scene generation unit is used to generate a virtual reality scene after the acquired working environment information is processed by the computing unit, and output the virtual reality scene to the human-computer interaction interface; The human-computer interaction interface is used to provide a remote operation human-computer interaction interface and feed back the virtual reality scene generated by the virtual scene generation unit to the operator; The computing unit is used to receive the control instructions of the dual controllers at the master end and the current state of the robotic arm, generate the dual robotic arm control instructions of the slave end according to the state of the robotic arm after passing through the virtual wall and damping force field algorithm at the master end, transmit force feedback to the dual controllers at the master end, and transmit depth information and visual information to the virtual scene generation module.

2. The dual-arm teleoperation system based on variable stiffness virtual wall and damping force field as claimed in claim 1, characterized in that: The three-dimensional reconstruction includes the three-dimensional reconstruction of the robot arm itself and the reconstruction of the working environment and obstacles. The three-dimensional reconstruction of the robot arm itself is performed by establishing the robot arm geometric model and current joint angle information in advance; the three-dimensional reconstruction of the working environment and obstacles is performed based on the point cloud depth information and color images obtained by the vision and depth sensors.

3. A dual-arm teleoperation method based on a variable stiffness virtual wall and a damping force field using the system as claimed in claim 1, characterized in that: At least the following steps are included: S1, scene reconstruction: On the master end, by building a geometric model in advance and receiving the angle values ​​of each joint of the current robotic arm, the current posture of the two arms is reconstructed in three dimensions; S2, variable stiffness dynamic virtual wall setting: Combined with the current dual-arm posture, two variable stiffness virtual walls are generated in real time. The variable stiffness dynamic virtual walls are perpendicular to the working plane and correspond to the two robotic arms respectively; S3, damping force field setting: according to the virtual wall generated in step S2 and its stiffness, a corresponding damping force field is set, wherein the damping force field includes the virtual wall and the surrounding area; S4, motion prediction: the master hand controller obtains the operator's instructions and predicts the new position that the arms will reach based on the instructions; S5, setting force feedback and command processing: according to the current position of the robot arm and the damping force field obtained in step S3, force feedback is applied to the hand controller, and according to the current virtual wall stiffness, motion commands are processed to achieve safety control.

4. The dual-arm teleoperation method based on variable stiffness virtual wall and damping force field as claimed in claim 3, characterized in that: In step S2, the normal vector direction of the virtual wall is determined according to the direction vector formed by the end of one robotic arm and the nearest point of the other robotic arm, and the two virtual walls are parallel to each other.

5. The dual-arm teleoperation method based on variable stiffness virtual wall and damping force field as claimed in claim 4, characterized in that: The virtual wall in step S2 has a virtual wall stiffness determined by a dynamic safety factor μ. When the safety factor μ=1, the virtual wall is completely impenetrable; when the safety factor μ=0, the virtual wall does not exist; when the safety factor μ is between 0 and 1, the virtual wall is in a variable stiffness state.

6. The dual-arm teleoperation method based on variable stiffness virtual wall and damping force field as claimed in claim 4, characterized in that: The safety factor μ and the robot moving speed e speed 、Preset safety factor e for the current operation task task 、Environmental factors environment and the relationship between the current position of the robot and the workspace pos Related, specifically: μ=ω1*e speed +ω2*e task +ω3*e environment +ω4*e pos Among them, ω1, ω2, ω3, and ω4 are the weights of each factor.

7. The dual-arm teleoperation method based on variable stiffness virtual wall and damping force field as claimed in claim 5 or 6, characterized in that: In step S3, when the dynamic safety factor μ changes from 1 to 0, the virtual wall is in a variable stiffness state, and the damping force field is along the direction of the dynamic virtual wall normal vector, and there is a transition area Δ from 0 to the maximum damping force on the boundary of the virtual wall. d , the maximum damping force increases with the increase of safety factor μ, and the damping force field is composed of the transition area Δ d , virtual wall thickness h, and point to virtual wall distance l are generated.

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