Hydraulic mechanical arm bilateral teleoperation control method based on improved wave variable

Abstract

The invention discloses a hydraulic mechanical arm bilateral teleoperation control method based on improved wave variables. The method comprises the steps that an improved wave variable method between a master end manipulator and a slave end hydraulic mechanical arm is constructed, the wave variable conversion process is improved by redesigning impedance parameters, distortion of signals in the transmission process is optimized, and the global stability of a system under the communication time delay condition is ensured; constructing a slave-end adaptive robust controller to accurately track a reference trajectory; constructing a grabbing force feedback mechanism based on a geometrical shape; an operator can remotely sense the grabbing state of the hydraulic mechanical arm, the operation efficiency and the operation accuracy are improved, and finally bilateral long-distance immersion type accurate teleoperation grabbing control over the hydraulic mechanical arm is achieved. The method shows good performance in the actual operation environment and the virtual environment, the accurate operation efficiency and operation safety of the hydraulic mechanical arm can be effectively improved, and immersion type accurate operation of remotely operating the hydraulic mechanical arm by an operator is achieved.

Description

Technical Field

[0001] The invention relates to a hydraulic mechanical arm control method, and relates to the field of multi-freedom hydraulic mechanical arm remote control, and in particular to a hydraulic mechanical arm bilateral remote operation control method based on improved wave variables. Background Art

[0002] Hydraulic manipulators, with their high power density, strong shock resistance, and high load capacity, offer significant advantages in specialized fields such as earthquake rescue and infrastructure construction. Currently, most hydraulic manipulators are remotely controlled by operators using handles or joysticks. This makes it difficult for operators to effectively perceive the remote working environment, which can lead to operational failures and even safety accidents. To address these challenges, teleoperation control, which involves human-machine-environment interaction, is an effective solution. This approach, through the introduction of force feedback, allows the operator to immersively experience the interaction between the slave manipulator and the working environment, thereby improving operational accuracy. However, teleoperation inevitably involves communication delays, and the introduction of force feedback within these delays can lead to system instability. Furthermore, the slave hydraulic manipulator is affected by various uncertainties, such as oil compressibility, hydraulic cylinder friction, and leakage, resulting in significant high-order nonlinear characteristics in its dynamic behavior. These factors complicate achieving precise control and degrade the transparency of the teleoperation system. Furthermore, the lack of force information at the slave end further degrades system transparency. Therefore, how to improve the operating efficiency and safety of hydraulic robotic arms and enable operators to remotely operate hydraulic robotic arms for precise heavy-load operations is an urgent problem to be solved. Summary of the Invention

[0003] To address the problems in the background art, the present invention provides a bilateral teleoperation control method for a hydraulic manipulator based on improved wave variables. This method can address issues such as communication delay, the nonlinear characteristics of the hydraulic manipulator, and the lack of force feedback, thereby improving operational efficiency and safety.

[0004] The technical solution adopted in the present invention is:

[0005] The bilateral teleoperation control method of a hydraulic manipulator based on improved wave variables of the present invention comprises:

[0006] An improved wave variable method, a slave-side adaptive robust controller, and a geometry-based gripping force feedback mechanism are constructed between the master-side manipulator and the slave-side hydraulic manipulator. The master-side operator operates the master-side manipulator, and the master-side controller outputs its own thrust. Then, the motion speed of the master-side controller remotely transmitted to the end gripper of the slave-side hydraulic manipulator is obtained according to the thrust of the master-side controller and the master-side gripping force at the previous moment. Then, the command speed of the wave variable transmitted to the end gripper of the slave-side hydraulic manipulator is obtained after processing with the improved wave variable method, and then the joint planning amount of the slave-side hydraulic manipulator is obtained. The joint planning amount and the actual joint amount are combined. The hydraulic cylinder pressure is input into the slave-end adaptive robust controller and processed to output the manipulator control quantity, thereby performing grasping control on the slave-end hydraulic manipulator. During the grasping process, the slave-end hydraulic manipulator processes the grasping quantity through a grasping force feedback mechanism based on a geometric shape and outputs the slave-end grasping force. The master-end grasping force at the current moment is obtained after processing through an improved wave variable method and transmitted to the master-end manipulator to be fed back to the master-end operator. Then, the grasping control is continued according to the thrust of the master-end controller output by the master-end operator's operation at the next moment and the master-end grasping force at the current moment, thereby realizing bilateral remote operation control of the hydraulic manipulator.

[0007] The improved wave variable method is as follows:

[0008]

[0009] Among them, u l ( ) and v r ( ) represent the first and second intermediate state transmission signals respectively, t represents the time; h represents the impedance parameter corresponding to the position tracking performance in the improved wave variable method; Indicates the command speed sent by the master controller, T rl Indicates the second intermediate state transmission signal v r ( ) Communication delay during transmission; F gr ( ) represents the slave-end grasping force of the slave hydraulic manipulator; κ represents the force feedback error gain coefficient; represents convolution, L -1 represents the inverse Laplace transform; τ w represents the filter coefficient of the first-order filter; s represents the complex frequency; Represents the command speed transmitted to the slave hydraulic manipulator through the wave variable; T lr Indicates the first intermediate state transmission signal u l ( ) Communication delay during transmission; F gl ( ) represents the master-side gripping force of the master-side manipulator.

[0010] The slave-side adaptive robust controller is specifically as follows:

[0011]

[0012]

[0013]

[0014] e r =q r -q rd

[0015]

[0016]

[0017]

[0018]

[0019] z r =F L -F Ld

[0020]

[0021]

[0022]

[0023]

[0024]

[0025]

[0026] Among them, M r ( ), C r ( ), G r ( ) and f r ( ) represent the inertia matrix, Coriolis force and centrifugal force matrix, gravity matrix and joint motion friction torque of the slave hydraulic manipulator respectively; q r 、 and Represent the joint angle, angular velocity and angular acceleration of the slave hydraulic manipulator, q rd 、 and They represent the planned angle, planned angular velocity and planned angular acceleration of each joint of the slave hydraulic manipulator; x represents the displacement of the hydraulic cylinder of the slave hydraulic manipulator; P i and P o Respectively represent the rodless cavity pressure and rod cavity pressure of each joint hydraulic cylinder of the slave hydraulic manipulator;; A i and Ao They represent the contact area of ​​the push rod in the rodless cavity and the rod cavity of each joint hydraulic cylinder of the slave end hydraulic manipulator; d1 and Denote the nominal value and deviation of the centralized modeling error in the dynamics of the hydraulic manipulator; B f and f represent the viscosity and Coulomb friction coefficients during the joint motion of the slave hydraulic manipulator, respectively; D() represents the direction characterization function; e r 、 and are the joint angle tracking error and its first-order derivative and second-order derivative of the slave hydraulic manipulator; s r Represents the sliding modulus of the joint angle tracking error; Represents the sliding modulus of the joint angle tracking error s r Expected angle q of the mid-joint rt The derivative of Λ r represents the positive definite diagonal gain matrix; z r represents the virtual input error function; F L and F Ld They represent the hydraulic cylinder output force of the slave hydraulic manipulator and its virtual control input design value respectively; Represents the first set of local parameter set θ F The reconstructed linear regression matrix; ⊙ and denote the multiplication and division operators respectively; and They represent the first set of local parameter sets θ selected from the dynamic equations of the hydraulic manipulator at the end F The estimated value of and its derivative; σ r1 represents the design control quantity of the dynamic equation of the slave hydraulic manipulator; ε1 represents the design parameter of the first-order control law; h1 represents the design parameter of the dynamic equation of the slave hydraulic manipulator; and denote the first and second discontinuous projection functions, Γ F and Γ Q denote the first and second diagonal positive definite gain matrices, τ F and τ Q represent the first and second control update rates respectively; Q Ld Represents the control flow design value of the slave hydraulic manipulator, that is, the manipulator control quantity; V i and V o They represent the compressible volume of the rodless cavity and the rod cavity of each joint hydraulic cylinder of the slave hydraulic manipulator arm respectively; and They represent the second set of local parameters θ selected from the dynamic equation of the hydraulic manipulator Q The estimated value of and its derivative, Represents the second set of local parameter set θ Q The reconstructed linear regression matrix; w1 and w2 represent the first and second lumped constant coefficients respectively; σ r2 represents the design control quantity of the pressure dynamic equation of the slave hydraulic manipulator; ε2 represents the design parameter of the second-order control law, h2 represents the design parameter of the pressure dynamic equation of the slave hydraulic manipulator; x v and u vD They represent the valve opening and valve control signal of the slave hydraulic manipulator respectively; k v represents the proportionality coefficient;

[0027] The joint planning quantities include the planned angles, planned angular velocities and planned angular accelerations of each joint of the slave hydraulic robotic arm; the actual joint quantities include the joint angles and angular velocities of the slave hydraulic robotic arm; and the hydraulic cylinder pressure includes the pressure inside the rodless cavity of the hydraulic cylinder of each joint of the slave hydraulic robotic arm.

[0028] The geometry-based grasping force feedback mechanism is specifically as follows:

[0029]

[0030] φ=-arctan(k)

[0031]

[0032] Among them, F gr represents the gripping force of the end gripper of the slave hydraulic manipulator, i.e., the slave gripping force; θ represents the angle between the end gripper of the slave hydraulic manipulator and the hydraulic cylinder; F t , φ and k represent the first, second and third intermediate process quantities respectively; L1 and L2 represent the lengths of the connecting rods on the short side and long side of the end gripper of the slave hydraulic manipulator respectively; F s represents the thrust output from the hydraulic cylinder of the end gripper of the end hydraulic manipulator arm; a represents the horizontal projection length from the short side of the parallelogram of the end gripper of the end hydraulic manipulator arm to the hydraulic cylinder to which it is connected; b represents the vertical projection length from the short side of the parallelogram of the end gripper of the end hydraulic manipulator arm to the hydraulic cylinder to which it is connected; c represents the distance from the object grasped by the end hydraulic manipulator arm to the inner edge of the end gripper;

[0033] During the grasping process, the grasping force of the hydraulic robotic arm is calculated by the angle between the end gripper of the hydraulic robotic arm and the hydraulic cylinder, the length of the connecting rods of the inner short and long sides of the end gripper of the hydraulic robotic arm, the horizontal and vertical projection lengths of the short side of the parallelogram of the end gripper to the hydraulic cylinder to which it is connected, and the distance from the grasped object to the inner edge of the end gripper.

[0034] The thrust of the master controller is input into the master trajectory planner for processing and then output to the master controller for remote transmission to the position trajectory of the slave hydraulic manipulator. After derivation, the motion speed of the end clamp of the slave hydraulic manipulator is obtained.

[0035] The wave variable is transmitted to the command speed of the end gripper of the hydraulic manipulator arm First, the wave variable is integrated to obtain the command trajectory X of the end gripper of the slave hydraulic manipulator. re , and then the desired trajectory X of the end gripper of the hydraulic manipulator is output after processing by the heterogeneous matching algorithm rd Then, the joint angle planning quantity q of the slave hydraulic manipulator is obtained through inverse kinematics rd0 Finally, the B-spline curve planner is used to obtain the planning value of each joint of the slave hydraulic manipulator as the planning angle q of each joint of the slave hydraulic manipulator rd , planning angular velocity and planned angular acceleration

[0036] The electronic device of the present invention comprises: a memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method described above.

[0037] The computer-readable storage medium of the present invention stores program data thereon, and when the program data is executed by a processor, the method described above is implemented.

[0038] The present method addresses the communication delay issue inherent in bilateral teleoperation of a hydraulic manipulator. By introducing two sets of impedance parameters, the wave variable conversion process is redesigned to optimize position tracking performance and force feedback error distortion during channel transmission, achieving a better balance between stability and transparency. This approach not only effectively reduces the adverse effects of wave reflection on the transparency of the bilateral teleoperation system but also minimizes signal distortion during transmission, ensuring the system's global stability despite communication delays. Furthermore, the present invention addresses the high-order nonlinearities and uncertainties of the hydraulic manipulator by designing a nonlinear adaptive robust controller based on a nonlinear dynamic model to accurately track the reference trajectory. This controller, combining an adaptive mechanism with a robust control law, estimates dynamic parameters in real time and compensates for the nonlinear characteristics of the hydraulic manipulator, while effectively suppressing the effects of unmodeled dynamics and external disturbances. This controller design enables the slave manipulator to accurately track the command trajectory of the master operator, significantly improving the system's robustness and anti-interference capabilities, and ensuring precise operation of the hydraulic manipulator under complex operating conditions. Finally, considering the heavy-load operation characteristics of the hydraulic manipulator and the lack of large-range force sensors on the market, the present invention designs a geometric-based gripping force feedback mechanism, which calculates the gripping force of the end gripper through the angular relationship between the end gripper and the hydraulic cylinder and the output thrust of the hydraulic cylinder of the end gripper, and transmits this force feedback to the operator at the master end. This gripping force feedback can provide the operator with an intuitive perception of the gripping state of the slave hydraulic manipulator, thereby effectively improving the efficiency, stability, transparency and accuracy of the bilateral remote operation of the hydraulic manipulator, and providing the operator with more accurate operation guidance. Through the above-mentioned control framework, the demand for long-distance immersive and precise remote operation control of the hydraulic manipulator can be realized.

[0039] The beneficial effects of the present invention are:

[0040] The method of the present invention can demonstrate good performance in both actual operating environments and virtual environments, can effectively solve problems such as communication delay, nonlinear characteristics and lack of force feedback, effectively improve the precise operation efficiency and operation safety of the hydraulic robotic arm, and realize immersive and precise operation of the operator's remote operation of the hydraulic robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a diagram of the improved wave variable bilateral teleoperation framework designed by the present invention;

[0042] Figure 2 It is a structural block diagram of the improved wave variable method of the present invention;

[0043] Figure 3 This is a schematic diagram of the end gripper of the slave robotic arm designed by the present invention;

[0044] Figure 4This is a trajectory tracking curve diagram of the end gripper of the hydraulic manipulator arm of the present invention, wherein: Figure 4 (a) is the tracking target curve of the hydraulic manipulator end gripper under the unilateral control framework of forceless feedback and wave transform. Figure 4 (b) is a graph showing the actual trajectory and command trajectory of the end gripper of the hydraulic manipulator under the control framework of the present invention;

[0045] Figure 5 is a joint space trajectory tracking curve diagram of the present invention, wherein, Figure 5 (a) is a graph showing the joint angles, joint planning angles, and joint angle tracking errors of the slave hydraulic manipulator under the unilateral control framework of forceless feedback and wave transform. Figure 5 (b) is a graph showing the joint angles, joint planning angles, and joint angle tracking errors of the slave hydraulic manipulator under the control framework of the present invention;

[0046] Figure 6 is a feedback force tracking curve diagram of the present invention;

[0047] Figure 7 It is a statistical result diagram of the operator research of the present invention. DETAILED DESCRIPTION

[0048] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0049] like Figure 1As shown, the bilateral remote operation control method of the hydraulic manipulator arm based on the improved wave variable of the present invention is specifically as follows: an improved wave variable method, a slave-end adaptive robust controller and a gripping force feedback mechanism based on geometric shapes are constructed between the master-end manipulator and the slave-end hydraulic manipulator; the master-end operator operates the master-end manipulator, and the master-end controller outputs its own thrust, and then obtains the motion speed of the master-end controller remotely transmitted to the end clamp of the slave-end hydraulic manipulator according to the thrust of the master-end controller and the master-end gripping force at the previous moment, and then obtains the instruction speed of the wave variable transmitted to the end clamp of the slave-end hydraulic manipulator arm after processing by the improved wave variable method, and then obtains the slave-end The joint planning amount of the hydraulic manipulator, the joint planning amount, the actual joint amount and the hydraulic cylinder pressure are input into the slave-end adaptive robust controller for processing and then outputting the manipulator control amount to perform grasping control on the slave-end hydraulic manipulator. During the grasping process, the slave-end hydraulic manipulator processes the grasping amount through a grasping force feedback mechanism based on a geometric shape and then outputs the slave-end grasping force. Then, the master-end grasping force at the current moment is obtained after processing by the improved wave variable method and transmitted to the master-end manipulator for feedback to the master-end operator. Then, the grasping control is continued according to the thrust of the master-end controller output by the master-end operator at the next moment and the master-end grasping force at the current moment, such as Figure 3 As shown, bilateral remote control of the hydraulic manipulator is realized.

[0050] In the specific implementation, first, the operation instructions of the master operator are transformed into motion instructions after the master trajectory planner and the improved wave variable transformation. Then, due to the difference in configuration between the master manipulator and the slave manipulator, the control instructions are sent to the slave through the heterogeneous matching algorithm. Convert to the slave workspace and obtain the robot arm angle command q through inverse kinematics calculation rd ; Then, a B-spline curve planner is used to generate joint trajectories that satisfy the physical constraints This information is then transmitted as input to the adaptive robust controller, enabling precise trajectory tracking of the slave arm. Furthermore, a geometry-based virtual gripping force is designed based on the characteristics of the slave hydraulic arm's gripper. This force is then transmitted to the master operator via wavelet transformation, enabling the master operator to effectively perceive the slave arm's gripping state and provide operational guidance.

[0051] like Figure 2 As shown in Figure 2, the improved wave variable method is as follows:

[0052]

[0053]

[0054]

[0055]

[0056]

[0057]

[0058] S(s)=diag[1,-1][M(s)-I][M(s)+I] -1

[0059] Among them, u l ( ) and v r ( ) represent the first and second intermediate state transmission signals respectively, t represents the time; h represents the impedance parameter corresponding to the position tracking performance in the improved wave variable method; Indicates the command speed sent by the master controller. Indicates the instruction speed after the delay, T rl Indicates the second intermediate state transmission signal v r ( ) Communication delay during transmission; F gr ( ) represents the slave-end grasping force of the slave hydraulic manipulator; κ represents the force feedback error gain coefficient; represents convolution, L -1 represents the inverse Laplace transform; τ w Represents the filter coefficient of the first-order filter; s represents the complex frequency, which is a key variable in the Laplace transform and is used to describe the frequency response and stability of the filter; Represents the command speed transmitted to the slave hydraulic manipulator through the wave variable; T lr Indicates the first intermediate state transmission signal u l ( ) Communication delay during transmission; F gl ( ) represents the master-end grasping force of the master-end manipulator; M( ), Λ H , λ1 and λ2 represent the teleoperation mixing matrix based on wave variables and its eigenvalue matrix, the first and second eigenvalues ​​respectively; P represents the matrix composed of the eigenvectors of the teleoperation mixing matrix M(s); γ represents a complex number, which can be written as γ=m+jn, represents the real number domain, j represents the imaginary unit; S( ) represents the scattering matrix; diag[ ] represents the diagonal matrix; I represents the identity matrix; when h∈[1,∞),κ∈[0.5,1), ‖S(s)‖≤1, that is, the teleoperation system based on the improved wave variable is passive and stable.

[0060] The improved wave variable method redesigns the wave variable conversion process by introducing two sets of parameters, optimizing the position tracking performance and the distortion of force feedback error during channel transmission, respectively, to ensure the global stability of the system under the time delay conditions caused by long-distance communication.

[0061] During the design of the improved wave variable method, impedance parameters and gain coefficients are adjusted to reduce the distortion of position and force signals during transmission. For example, by properly selecting impedance parameters and gain coefficients, signal distortion during channel transmission can be significantly reduced while ensuring system stability even in the presence of communication delays.

[0062] The nonlinear adaptive robust controller uses an adaptive algorithm to update model parameters in real time, improving the system's robustness and anti-interference capabilities. A controller based on a nonlinear robust control law and a nonlinear model compensation control law is designed for the slave hydraulic manipulator to accurately track the hydraulic manipulator's joint angles relative to the reference trajectory. The slave adaptive robust controller is described below:

[0063]

[0064]

[0065]

[0066] e r =q r -q rd

[0067]

[0068]

[0069]

[0070]

[0071] z r =F L -F Ld

[0072]

[0073]

[0074]

[0075]

[0076]

[0077]

[0078]

[0079]

[0080] θ1=B f ,θ2=f,θ3=d1, θ5=d 21 ,θ6=d 22

[0081]

[0082]

[0083]

[0084]

[0085]

[0086] Among them, M r ( ), C r ( ), G r ( ) and f r ( ) represent the inertia matrix, Coriolis force and centrifugal force matrix, gravity matrix and joint motion friction torque of the slave hydraulic manipulator respectively; q r 、 and Represent the joint angle, angular velocity and angular acceleration of the slave hydraulic manipulator, q rd 、 and They represent the planned angle, planned angular velocity and planned angular acceleration of each joint of the slave hydraulic manipulator; x represents the displacement of the hydraulic cylinder of the slave hydraulic manipulator, The force-torque Jacobian matrix representing the linear motion of the hydraulic cylinder of the end hydraulic manipulator to the joint rotation is x = [x1 x2 x3 x4] T , x1, ..., x4 represent the displacement of the hydraulic cylinder corresponding to the 1st, 2nd, 3rd, and 4th joints of the slave hydraulic manipulator, q r1 ,…,q r4 Respectively represent the angles of the 1st, 2nd, 3rd and 4th joints of the slave hydraulic manipulator; P i and P o Respectively represent the rodless cavity pressure and rod cavity pressure of each joint hydraulic cylinder of the slave hydraulic manipulator;; A i and A o They represent the contact area of ​​the push rod in the rodless cavity and the rod cavity of each joint hydraulic cylinder of the slave end hydraulic manipulator; d1 and Denote the nominal value and deviation of the centralized modeling error in the dynamics of the hydraulic manipulator; B fand f represent the viscosity and Coulomb friction coefficients of the slave hydraulic manipulator during joint motion, respectively; D() represents the direction characterization function, D(P i -P o ) represents the hydraulic cylinder pressure direction characterization function, represents the direction characterization function of joint motion velocity; e r 、 and are the joint angle tracking error and its first-order derivative and second-order derivative of the slave hydraulic manipulator; s r represents the sliding modulus of the joint angle tracking error, represents the derivative of the sliding modulus of the joint angle tracking error; Represents the sliding modulus of the joint angle tracking error s r Expected angle q of the mid-joint rt The derivative of Λ r represents the positive definite diagonal gain matrix; z r represents the virtual input error function; F L and F Ld They represent the hydraulic cylinder output force of the slave hydraulic manipulator and its virtual control input design value respectively; They represent the derivatives of the hydraulic cylinder output force respectively; Represents the first set of local parameter set θ F The reconstructed linear regression matrix; ⊙ and Represent the multiplication operator and the division operator respectively, for example, α⊙β=[α1 α2…α n ] T ⊙[β1β2…β n ] T =[α1β1 α2β2…α n β n ] T , and They represent the first set of local parameter sets θ selected from the dynamic equations of the hydraulic manipulator at the end F The estimated value of and its derivative; σ r1 represents the design control quantity of the dynamic equation of the slave hydraulic manipulator; ε1 represents the design parameter of the first-order control law, and the first control law represents the overall adaptive robust controller design of the hydraulic manipulator; h1 represents the design parameter of the dynamic equation of the slave hydraulic manipulator; and denote the first and second discontinuous projection functions, Γ F and Γ Q denote the first and second diagonal positive definite gain matrices, τ F and τ Qrepresent the first and second control update rates respectively; Q Ld Indicates the control flow design value of the slave hydraulic manipulator, that is, the manipulator control quantity, Q L Indicates the actual value of the control flow; V i and V o They represent the compressible volume of the rodless cavity and the rod cavity of each joint hydraulic cylinder of the slave hydraulic manipulator, V i =V hi +A i diag[x L ],V o =V ho -A o diag[x L ],V hi and V ho They represent the extension of the hydraulic cylinder rod x at the initial moment. L The volume of the rodless cavity and the rod cavity below; and They represent the second set of local parameters θ selected from the dynamic equation of the hydraulic manipulator Q The estimated value of and its derivative, Represents the second set of local parameter set θ Q The reconstructed linear regression matrix; w1 and w2 represent the first and second lumped constant coefficients respectively; σ r2 represents the design control quantity of the pressure dynamics equation of the slave hydraulic manipulator; ε2 represents the design parameter of the second-order control law, which represents the design of the adaptive robust controller of a single hydraulic cylinder cavity; h2 represents the design parameter of the pressure dynamics equation of the slave hydraulic manipulator; x v and u vD They represent the valve opening and valve control signal of the slave hydraulic manipulator respectively; k v represents the proportionality coefficient; β e Represents the elastic bulk modulus of the hydraulic oil; d 21 and d 22 denote the concentrated modeling errors of the pressure dynamics of the rodless cavity and the rod cavity, d2 and They represent the concentrated modeling error and its deviation in the cavity pressure dynamics respectively; and θ represents the deviation of the concentrated modeling error of the pressure dynamics of the rodless cavity and the rod cavity respectively; i represents the i-th uncertainty parameter, i = 1, 2, ..., 6; θ Fmax and θ Fmin Represent the first set of local parameter sets θ F The maximum and minimum values ​​of θ Qmax and θ QminRepresent the second set of local parameter sets θ Q The maximum and minimum values ​​of δ1 and δ2 represent the infinitesimal quantities that the design parameters h1 and h2 approach in the property definition respectively;

[0087] The joint planning quantities include the planned angles, planned angular velocities and planned angular accelerations of each joint of the slave hydraulic robotic arm; the actual joint quantities include the joint angles and angular velocities of the slave hydraulic robotic arm; and the hydraulic cylinder pressure includes the pressure inside the rodless cavity of the hydraulic cylinder of each joint of the slave hydraulic robotic arm.

[0088] A nonlinear adaptive robust controller is proposed to address the high-order nonlinearity and various uncertainties of the hydraulic manipulator, enabling the slave end to accurately track the master end reference trajectory.

[0089] The geometry-based gripping force feedback mechanism calculates the gripping force by using the angular relationship between the end gripper and the hydraulic cylinder and the hydraulic cylinder's output thrust, allowing the operator to perceive the gripping status of the slave arm in real time. The geometry-based gripping force feedback mechanism is as follows:

[0090]

[0091] φ=-arctan(k)

[0092]

[0093] Among them, F gr represents the gripping force of the end gripper of the slave hydraulic manipulator, i.e., the slave gripping force; θ represents the angle between the end gripper of the slave hydraulic manipulator and the hydraulic cylinder; F t , φ and k represent the first, second and third intermediate process quantities respectively; L1 and L2 represent the lengths of the connecting rods on the short side and long side of the end gripper of the slave hydraulic manipulator respectively; F s It represents the thrust output from the hydraulic cylinder of the end gripper of the end hydraulic robotic arm; a represents the horizontal projection length from the short side of the parallelogram of the end gripper of the end hydraulic robotic arm to the hydraulic cylinder to which it is connected; b represents the vertical projection length from the short side of the parallelogram of the end gripper of the end hydraulic robotic arm to the hydraulic cylinder to which it is connected; c represents the distance from the object grasped by the end hydraulic robotic arm to the inner edge of the end gripper.

[0094] During the grasping process, the grasping force of the hydraulic robotic arm is calculated by the angle between the end gripper of the hydraulic robotic arm and the hydraulic cylinder, the length of the connecting rods of the inner short and long sides of the end gripper of the hydraulic robotic arm, the horizontal and vertical projection lengths of the short side of the parallelogram of the end gripper to the hydraulic cylinder to which it is connected, and the distance from the grasped object to the inner edge of the end gripper.

[0095] The geometric shape-based grasping force feedback mechanism obtains the grasping force of the end gripper through the angular relationship between the end gripper and the hydraulic cylinder and the output thrust of the hydraulic cylinder of the end gripper, providing the operator with feedback guidance for remote perception of the grasping status of the slave robotic arm, enabling the operator to perceive the grasping status of the slave robotic arm in real time, overcoming the contradiction between the heavy-load operation perception of the hydraulic robotic arm and the lack of force sensors, thereby improving the accuracy and efficiency of the operation.

[0096] The thrust input of the master controller is processed in the master trajectory planner and then output to the master controller, which transmits the position trajectory to the slave hydraulic manipulator remotely. After derivation, the motion speed of the end gripper of the slave hydraulic manipulator is obtained. The master trajectory planner is as follows:

[0097]

[0098] Among them, M ld ( ), C ld ( ) and G ld ( ) represent the first, second and third positive expectation matrices of the slave hydraulic manipulator respectively; Indicates the motion acceleration of the end gripper of the hydraulic manipulator arm; F h Indicates the thrust of the master controller; v l Represents the scaling factor.

[0099] The command speed of the end gripper of the hydraulic manipulator arm transmitted by the wave variable First, the wave variable is integrated to obtain the command trajectory X of the end gripper of the slave hydraulic manipulator. re , and then the desired trajectory X of the end gripper of the hydraulic manipulator is output after processing by the heterogeneous matching algorithm rd Then, the joint angle planning quantity q of the slave hydraulic manipulator is obtained through inverse kinematics rd0 Finally, the B-spline curve planner is used to obtain the planning value of each joint of the slave hydraulic manipulator as the planning angle q of each joint of the slave hydraulic manipulator rd , planning angular velocity and planned angular acceleration

[0100] The method of the present invention addresses the communication delay problem existing in bilateral teleoperation of a hydraulic manipulator. By introducing two sets of parameters to redesign the wave variable conversion process, the method optimizes position tracking performance and the distortion of force feedback errors during channel transmission, respectively, thereby achieving a better balance between stability and transparency. This method not only effectively reduces the adverse effects of wave reflection on the transparency of the bilateral teleoperation system, but also minimizes signal distortion during transmission, ensuring the global stability of the system. Furthermore, the present invention designs a nonlinear adaptive robust controller to address the high-order nonlinearities and uncertainties of the hydraulic manipulator. This controller combines an adaptive mechanism with a robust control law to estimate dynamic parameters in real time and compensate for the nonlinear characteristics of the hydraulic manipulator, while effectively suppressing the influence of unmodeled dynamics and external interference. Through this controller design, the slave manipulator can accurately track the command trajectory of the master operator, significantly improving the system's robustness and anti-interference capabilities, and ensuring the precise operation of the hydraulic manipulator under complex working conditions. Finally, taking into account the heavy-load operation characteristics of the hydraulic manipulator and the lack of large-range force sensors on the market, the present invention designs a geometric-based gripping force feedback mechanism, which calculates the gripping force of the end gripper through the angular relationship between the end gripper and the hydraulic cylinder and the output thrust of the hydraulic cylinder of the end gripper, and transmits the force feedback to the master-end operator. This gripping force feedback can provide the operator with an intuitive perception of the gripping state of the slave-end hydraulic manipulator, thereby effectively improving the stability, transparency and accuracy of the bilateral remote operation of the hydraulic manipulator, and providing the operator with more accurate operation guidance.

[0101] In order to verify the applicability and effectiveness of the bilateral teleoperation framework strategy proposed in this study in the field of heavy-load operations of hydraulic manipulators. The present invention adopts the Phantom Omni, a force feedback device with six degrees of freedom, as the master controller, and a five-degree-of-freedom hydraulic manipulator that meets the mathematical model defined above as the slave device. The core components of the slave device include a five-degree-of-freedom hydraulic manipulator, a matching hydraulic drive system, and a high-precision signal acquisition system. The five-degree-of-freedom hydraulic manipulator consists of the following five main parts: elbow, upper arm, lower arm, wrist, and end effector. The elbow is fixed to the manipulator support structure mounted on the base by an articulated manner. Except for the support frame and the base, the rest of the manipulator has the ability to rotate. The specific structural parameters are shown in Table 1.

[0102] Table 1 Structural parameters of hydraulic manipulator

[0103]

[0104]

[0105] The entire system runs in the MATLAB / Simulink environment. The Robot Operating System (ROS) is used to establish a communication network between the master and slave terminals, enabling the issuance of control commands from the master and feedback of information from the slave terminals. Furthermore, an external camera is installed on the base of the slave hydraulic manipulator arm and connected to the master PC via USB to simulate the video signal feedback effect during actual teleoperation. Based on this, two sets of experiments were designed to further validate the performance of the proposed framework. In the experiments, the master operator controlled the slave hydraulic manipulator arm using a Phantom Omni to grasp a 20kg dumbbell and move it to a designated location. This task simulates the application of the hydraulic manipulator arm in heavy-load disaster relief work, highlighting its operational performance and precision under high-load conditions. This experimental setup effectively verifies the hydraulic manipulator arm's stability and controllability when carrying heavy loads, ensuring its ability to reliably complete heavy-load tasks in real-world rescue scenarios.

[0106] The specific implementation of the present invention is as follows:

[0107] Example S1: The teleoperation framework adopts a unilateral control framework with forceless feedback and wave transformation, and the slave manipulator adopts traditional proportional integral differential PID (Proportional Integral Derivative) control. The control parameters are: K p =[105.5 5 8], K i =[0 0 0 0], K d =[0.1 0.3 0.01 0.01].

[0108] Example S2: A bilateral teleoperation framework based on an improved wave variable with force feedback is adopted, and the slave manipulator adopts the adaptive robust controller of the present invention, wherein the parameters in the improved wave variable framework are selected as K=0.7 and h=20. The control parameter in the adaptive robust controller is Λ r =diag[80 80 80 80],σ r1 =[60 130 70 40], σ r2 =[100 180 150 110], w1=[1 1 1 0.01], w2=[100 0.1 1 1]×10 5 , the simulated communication delay is set to 500ms.

[0109] The tracking curve results of Examples S1 and S2 are as follows Figure 4 and Figure 5 As shown. First, Figure 4As shown in (a), the result of the end-arm tracking the target curve under the unilateral control framework of forceless feedback and wave transform is shown. Since the slave end manipulator adopts the traditional PID control strategy, there is a significant deviation between the actual trajectory of the end-arm and the command trajectory, especially in the fast-changing area of ​​the trajectory. This deviation is more significant. This is because in the joint space, as shown in Figure 5 As shown in (a), the PID controller does not consider the high-order nonlinear characteristics unique to the hydraulic manipulator, but only uses a linear control law, lacking self-adaptation of model parameters. As a result, there is a large error in tracking the target trajectory in the joint space. When the multi-joint errors are superimposed on the end position space, the errors are further amplified, resulting in a significant deviation between the actual trajectory of the end of the manipulator and the command trajectory. In addition, due to the lack of force feedback and wave variables to stabilize the communication experiment, it is difficult for the master operator to observe the movement of the slave manipulator in real time through video, and it is also difficult to perceive the target grasping situation. Repeated adjustments near the target position are required to grasp the target, which is inefficient. It takes about 60 seconds to complete the entire task.

[0110] In contrast, when force feedback and improved wave variable method are introduced into the system and the slave manipulator is controlled by adaptive robust controller, the actual trajectory of the hydraulic manipulator end is different from the command trajectory. Figure 4 As shown in (b), in terms of the motion performance of the hydraulic manipulator at the slave end, the tracking performance of the hydraulic manipulator under the adaptive robust controller is significantly improved compared with the PID controller, as shown in Figure 5 As shown in (b), the root mean square errors of the four joints are reduced by 82%, 83%, 95%, and 80% respectively. On this basis, the root mean square error of the end position tracking is reduced from 12.5mm to 1.2mm. This shows that under the control of the adaptive robust controller, the slave end manipulator has better tracking performance for the master end command signal and can accurately reproduce the operation intention of the master end operator. In addition, Figure 6 Figure 2 shows the estimated force on the slave side and the feedback force on the master side. The master and slave forces are completely consistent, ignoring time delays. By introducing force feedback, the master operator can accurately perceive the gripping state of the slave arm, effectively improving operational efficiency. While the introduction of the improved wave variable method introduces a certain time delay in force feedback perception, it also brings greater stability to the system.

[0111] In summary, the present invention uses an adaptive robust controller to control the hydraulic manipulator arm, which can take into account the high-order nonlinear characteristics unique to the hydraulic manipulator arm and obtain better control performance. At the same time, the introduction of force feedback into the system can enable the master-end operator to better perceive the slave-end situation and improve work efficiency. Furthermore, the integrated improved wave variable architecture can ensure the stability of the system under communication delay.

[0112] To better demonstrate the benefits of a bilateral teleoperation control framework for a hydraulic manipulator based on improved wave variables for efficient and precise heavy-load operations and improved operator perception of telepresence, a user study was conducted. Considering the limitations of real-world scenarios, a virtual work environment simulating a collapsed urban environment after an earthquake was constructed using the Unity platform. A full-scale virtual model of the actual hydraulic manipulator was then reproduced. Within this virtual environment, the primary operator, using an Omni force feedback device and a VR headset, relied on the aforementioned control framework to control the virtual hydraulic manipulator to complete a simulated earthquake disaster relief task involving the removal of collapsed floor slabs.

[0113] Regarding the virtual work scenario, a virtual work scenario was constructed, specifically depicting the collapsed buildings after an urban earthquake. A virtual model of a real hydraulic manipulator was recreated to scale. To demonstrate the hydraulic manipulator's heavy-load performance, the object to be moved in the virtual scenario was set to 100 kg. Given the challenges of accurately simulating the dynamic characteristics of a real hydraulic manipulator in a virtual environment, this paper proposes a control flow strategy that allows an operator to operate in the virtual environment. Control instructions are sent to the real hydraulic manipulator. Simultaneously, the real manipulator's joint state data is transmitted back to the virtual environment in real time and synchronized with the virtual hydraulic manipulator model. Furthermore, the interaction forces between the virtual manipulator and the environment in the virtual environment are fed back to the real manipulator's control system, simulating the external forces acting on the real manipulator. This design allows the operator's operations in the virtual environment to replicate the dynamic response of the real hydraulic manipulator, thereby verifying the effectiveness of the adaptive robust control strategy proposed in this paper. The VR headset used in this experiment was the HTC Vive Cosmos, which ran in a Windows operating system environment with VIVE software installed. The Unity program and the Simulink program used to control the hydraulic manipulator are both executed under the Windows operating system, and communication between the two programs is achieved through the TCP / IP protocol. In addition, the Omni force feedback device exchanges data with the Unity program via a wired network.

[0114] The specific experimental setup includes two comparative experiments (following the setup of Examples S1 and S2 in the physical experiment), and the following two indicators are selected to quantitatively evaluate the task performance under different conditions:

[0115] Task completion time P t : The total time it takes for the operator to remotely operate the virtual hydraulic robot arm, including starting the movement, carrying the target object, placing it at the specified location, and returning to the initial point.

[0116] Workload P w :P wIt is obtained by the average of the six parts of NASA-TLX (NASA Task Load Index), including psychological demand I MD (Mental Demand), Physical Demand I PD (Physical Demand), Time Demand I TD (Temporal Demand), Self-efficacy I SP (Self Performance), Effort Index I EF (Effort) and frustration index I FS (Frust). The maximum score for each section is 100 points. The higher the score, the higher the corresponding demand. SP On the other hand, lower scores reflect greater satisfaction with one's own performance.

[0117] This experiment recruited 10 volunteers (aged 20 to 26 years old, 5 males and 5 females, all with normal or corrected vision and no physical disabilities, about half of whom were outside the laboratory and lacked a foundation in robotic arm technology) to participate in the user study. All participants received training and practice in hydraulic robotic arm teleoperation until they were able to confidently and independently perform simulated earthquake disaster rescue tasks. Subsequently, each subject repeated the same task ten times under two different conditions (Examples S1 and S2), and the completion time P for each task was recorded. t and workload P w To prevent participants from becoming habituated to a specific test format, the order of tests was randomized.

[0118] During the entire disaster relief operation of transporting collapsed floor slabs, first, the mobile robotic arm is controlled to reach the operation area and enter the preparation stage for the operation; second, through the improved wave variable remote operation control method proposed in the present invention, the Omni force feedback device is operated to control the virtual robotic arm, and the control signal is sent to the real hydraulic robotic arm via TCP / IP. Then, the joint status data of the real robotic arm is transmitted back to the virtual environment in real time and synchronized to the virtual hydraulic robotic arm model to find and clamp the collapsed floor slab, complete the grasping of the collapsed floor slab in the virtual scene, and transport it to the edge area. After the operation is completed, the robotic arm returns to its initial position, completing the operation task.

[0119] like Figure 7As shown, the statistical results of the user study drawn using a box plot can be seen that, under the conditions of no force feedback and only using traditional PID control (Example S1), the six indices in the NASA task load index NASA-TLX are all higher than those in Example S2, ultimately resulting in the highest total workload and longer completion time. This is because Example S1 lacks the guidance of force feedback, and the operator is difficult to perceive the actual clamping state, and the operator needs to make extra efforts to judge the clamping state of the manipulator. In addition, due to the use of only traditional PID control, the movement of the hydraulic manipulator is not stable enough, and jitter often occurs, making the frequency of failure of the manipulator to clamp the target object higher. Therefore, the operator in Example S1 has higher psychological needs (needs to operate carefully in the absence of end environmental perception, worrying that the target object may not be caught), higher physical needs (needs to keep the master end manipulator for a long time), longer time requirements, higher effort index (due to the unstable movement of the hydraulic manipulator, the task needs to be tried many times to succeed) and higher frustration index (the experimental results are not ideal).

[0120] After combining force feedback and adaptive robust controller (Example S2), the task efficiency is significantly improved. From the perspective of the operator's operating experience, the lower self-performance index under the conditions of Example S2 further confirms this. Specifically, the introduction of force feedback provides the operator with an intuitive perception of the interaction state between the slave manipulator and the environment, effectively reducing the operator's psychological burden. At the same time, the application of the adaptive robust controller enhances the ability of the slave hydraulic manipulator to accurately track the master command trajectory, thereby improving the task success rate. In addition, the improved wave variable method ensures the stability of the teleoperation system and reduces the risk of task failure due to system instability. Therefore, through this teleoperation control framework, time requirements, effort, frustration and self-performance are reduced, resulting in an overall workload P of the operator. w Significantly reduced.

[0121] This paper proposes a bilateral teleoperation control framework for a hydraulic manipulator based on improved wave variables. This framework aims to overcome challenges such as communication latency, the nonlinear characteristics of the hydraulic manipulator, and force feedback, thereby improving operational efficiency and safety. By optimizing the wave variable transformation mechanism and parameter selection, the framework significantly reduces signal distortion, enhancing system transparency and control accuracy. A nonlinear dynamic model is established to address the high-order nonlinearities and uncertainties of the hydraulic manipulator, and a nonlinear adaptive robust controller is designed to accurately track the reference trajectory, thereby improving the system's robustness and anti-interference capabilities. Furthermore, considering the heavy-load characteristics of the hydraulic manipulator and the lack of large-range force sensors, a geometry-based grasping force feedback mechanism is designed to enable the operator to remotely sense the grasping state of the slave manipulator, effectively improving operational efficiency and accuracy. Operational experiments in both real and virtual environments validate the effectiveness of the proposed control framework. This control framework demonstrates excellent performance both theoretically and practically, providing an effective solution for teleoperation of hydraulic manipulators in heavy-load environments and possessing potential for application in specialized fields such as earthquake rescue and deep-sea operations.

[0122] The above content is only the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A bilateral teleoperation control method for a hydraulic manipulator based on improved wave variables, characterized in that: include: An improved wave variable method, a slave-side adaptive robust controller, and a geometry-based gripping force feedback mechanism are constructed between the master-side manipulator and the slave-side hydraulic manipulator. The master-side operator operates the master-side manipulator, and the master-side controller outputs its own thrust. Then, the motion speed of the master-side controller remotely transmitted to the end gripper of the slave-side hydraulic manipulator is obtained according to the thrust of the master-side controller and the master-side gripping force at the previous moment. Then, the command speed of the wave variable transmitted to the end gripper of the slave-side hydraulic manipulator is obtained after processing with the improved wave variable method, and then the joint planning amount of the slave-side hydraulic manipulator is obtained. The joint planning amount and the actual joint amount are combined. The hydraulic cylinder pressure is input into the slave-end adaptive robust controller and processed to output the manipulator control quantity, thereby performing grasping control on the slave-end hydraulic manipulator. During the grasping process, the slave-end hydraulic manipulator processes the grasping quantity through a grasping force feedback mechanism based on a geometric shape and outputs the slave-end grasping force. The master-end grasping force at the current moment is obtained after processing through an improved wave variable method and transmitted to the master-end manipulator to be fed back to the master-end operator. Then, the grasping control is continued according to the thrust of the master-end controller output by the master-end operator's operation at the next moment and the master-end grasping force at the current moment, thereby realizing bilateral remote operation control of the hydraulic manipulator.

2. The bilateral teleoperation control method for a hydraulic manipulator based on improved wave variables according to claim 1, characterized in that: The improved wave variable method is as follows: Among them, u l () and v r () represent the first and second intermediate state transmission signals respectively, t represents the time; h represents the impedance parameter; Indicates the command speed sent by the master controller, T rl Indicates the second intermediate state transmission signal v r () Communication delay during transmission; F gr () represents the slave-end grasping force of the slave hydraulic manipulator; k represents the force feedback error gain coefficient; represents convolution, L -1 represents the inverse Laplace transform; τ w represents the filter coefficient of the first-order filter; s represents the complex frequency; Represents the command speed transmitted to the slave hydraulic manipulator through the wave variable; T lr Indicates the first intermediate state transmission signal u l () Communication delay during transmission; F gl () represents the master-side gripping force of the master-side manipulator.

3. The bilateral teleoperation control method for a hydraulic manipulator based on improved wave variables according to claim 1 is characterized in that: The slave-side adaptive robust controller is specifically as follows: e r =q r -q rd z r =F L -F Ld Among them, M r (), C r (), G r () and f r () represent the inertia matrix, Coriolis force and centrifugal force matrix, gravity matrix and joint motion friction torque of the slave hydraulic manipulator respectively; q r 、 and Represent the joint angle, angular velocity and angular acceleration of the slave hydraulic manipulator, q rd 、 and They represent the planned angle, planned angular velocity and planned angular acceleration of each joint of the slave hydraulic manipulator; x represents the displacement of the hydraulic cylinder of the slave hydraulic manipulator; p i and p o Respectively represent the rodless cavity pressure and rod cavity pressure of each joint hydraulic cylinder of the slave hydraulic manipulator;; A i and A o They represent the contact area of ​​the push rod in the rodless cavity and the rod cavity of each joint hydraulic cylinder of the slave end hydraulic manipulator; d1 and Denote the nominal value and deviation of the centralized modeling error in the dynamics of the hydraulic manipulator; B f and f represent the viscosity and Coulomb friction coefficients during the joint motion of the slave hydraulic manipulator, respectively; D() represents the direction characterization function; e r 、 and are the joint angle tracking error and its first-order derivative and second-order derivative of the slave hydraulic manipulator; s r Represents the sliding modulus of the joint angle tracking error; Represents the sliding modulus of the joint angle tracking error s r Expected angle q of the mid-joint rt The derivative of Λ r represents the positive definite diagonal gain matrix; z r represents the virtual input error function; F L and F Ld They represent the hydraulic cylinder output force of the slave hydraulic manipulator and its virtual control input design value respectively; Represents the first set of local parameter set θ F The reconstructed linear regression matrix; ⊙ and denote the multiplication and division operators respectively; and They represent the first set of local parameter sets θ selected from the dynamic equations of the hydraulic manipulator at the end F The estimated value of and its derivative; σ r1 represents the design control quantity of the dynamic equation of the slave hydraulic manipulator; ε1 represents the design parameter of the first-order control law; h1 represents the design parameter of the dynamic equation of the slave hydraulic manipulator; and denote the first and second discontinuous projection functions, Γ F and Γ Q denote the first and second diagonal positive definite gain matrices, τ F and τ Q represent the first and second control update rates respectively; Q Ld Represents the control flow design value of the slave hydraulic manipulator, that is, the manipulator control quantity; V i and V o They represent the compressible volume of the rodless cavity and the rod cavity of each joint hydraulic cylinder of the slave hydraulic manipulator arm respectively; and They represent the second set of local parameters θ selected from the dynamic equation of the hydraulic manipulator Q The estimated value of and its derivative, Represents the second set of local parameter set θ Q The reconstructed linear regression matrix; w1 and w2 represent the first and second lumped constant coefficients respectively; σ r2 represents the design control quantity of the pressure dynamic equation of the slave hydraulic manipulator; ε2 represents the design parameter of the second-order control law, h2 represents the design parameter of the pressure dynamic equation of the slave hydraulic manipulator; x v and u vD They represent the valve opening and valve control signal of the slave hydraulic manipulator respectively; k v represents the proportionality coefficient; The joint planning quantities include the planned angles, planned angular velocities and planned angular accelerations of each joint of the slave hydraulic robotic arm; the actual joint quantities include the joint angles and angular velocities of the slave hydraulic robotic arm; and the hydraulic cylinder pressure includes the pressure inside the rodless cavity of the hydraulic cylinder of each joint of the slave hydraulic robotic arm.

4. The bilateral teleoperation control method for a hydraulic manipulator based on improved wave variables according to claim 1 is characterized in that: The geometry-based grasping force feedback mechanism is specifically as follows: φ=-arctan(k) Among them, F gr represents the gripping force of the end gripper of the slave hydraulic manipulator, i.e., the slave gripping force; θ represents the angle between the end gripper of the slave hydraulic manipulator and the hydraulic cylinder; F t , φ and k represent the first, second and third intermediate process quantities respectively; L1 and L2 represent the lengths of the connecting rods on the short side and long side of the end gripper of the slave hydraulic manipulator respectively; F s represents the thrust output from the hydraulic cylinder of the end gripper of the end hydraulic manipulator arm; a represents the horizontal projection length from the short side of the parallelogram of the end gripper of the end hydraulic manipulator arm to the hydraulic cylinder to which it is connected; B represents the vertical projection length from the short side of the parallelogram of the end gripper of the end hydraulic manipulator arm to the hydraulic cylinder to which it is connected; c represents the distance from the object grasped by the end hydraulic manipulator arm to the inner edge of the end gripper; During the grasping process, the grasping force of the hydraulic robotic arm is calculated by the angle between the end gripper of the hydraulic robotic arm and the hydraulic cylinder, the length of the connecting rods of the inner short and long sides of the end gripper of the hydraulic robotic arm, the horizontal and vertical projection lengths of the short side of the parallelogram of the end gripper to the hydraulic cylinder to which it is connected, and the distance from the grasped object to the inner edge of the end gripper.

5. The bilateral teleoperation control method for a hydraulic manipulator based on improved wave variables according to claim 1 is characterized in that: The thrust of the master controller is input into the master trajectory planner for processing and then output to the master controller for remote transmission to the position trajectory of the slave hydraulic manipulator. After derivation, the motion speed of the end clamp of the slave hydraulic manipulator is obtained.

6. The bilateral teleoperation control method for a hydraulic manipulator based on improved wave variables according to claim 1, characterized in that: The wave variable is transmitted to the command speed of the end gripper of the hydraulic manipulator arm First, the wave variable is integrated to obtain the command trajectory X of the end gripper of the slave hydraulic manipulator. re , and then the desired trajectory X of the end gripper of the hydraulic manipulator is output after processing by the heterogeneous matching algorithm rd Then, the joint angle planning quantity q of the slave hydraulic manipulator is obtained through inverse kinematics rd0 Finally, the B-spline curve planner is used to obtain the planning value of each joint of the slave hydraulic manipulator as the planning angle q of each joint of the slave hydraulic manipulator rd , planning angular velocity and planned angular acceleration 7. An electronic device, characterized in that: include: A memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method according to any one of claims 1 to 6.

8. A computer-readable storage medium having program data stored thereon, characterized in that: When the program data is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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