Control method and system of bilateral teleoperation system based on adaptive wave impedance

Abstract

The invention discloses a control method and system of a bilateral teleoperation system based on adaptive wave impedance. The method comprises the following steps: constructing a joint space dynamics model; variable wave impedance is adopted for wave variable transformation, and state parameters of the bilateral teleoperation system are collected in real time; in a preset time window, evaluating a stability index, a responsiveness index and a transparency index of the bilateral teleoperation system according to the state parameters; judging the current task state of the bilateral teleoperation system by adopting a contact force threshold method; the stability index, the responsiveness index, the transparency index and the current task state serve as input, a fuzzy logic controller is adopted for fuzzy reasoning, and the wave impedance adjustment amount is obtained through calculation; adjusting and updating the variable wave impedance according to the wave impedance adjustment amount, and performing wave variable transformation based on the adjusted and updated wave impedance to obtain a corresponding wave variable signal; signal transmission is carried out in the communication channel based on the wave variable signal, and the system requirements of multiple operation stages can be met.

Description

Technical Field

[0001] This invention relates to the field of bilateral teleoperation system control technology, specifically to a control method for a bilateral teleoperation system based on adaptive wave impedance and a control system for a bilateral teleoperation system based on adaptive wave impedance. Background Technology

[0002] A bilateral teleoperation system typically consists of a master device controlled by an operator at a safe location and a slave robot performing tasks in a remote, hazardous environment. In this system, not only are motion commands from the master device transmitted to the slave for execution, but more importantly, the contact forces generated when the slave interacts with the environment are fed back to the master device in real time. This allows the operator to "feel" the hardness, softness, and resistance of the remote environment as if they were actually there. This immersive sense of force is crucial for completing delicate and complex contact-based tasks. However, all remote operations rely on communication networks, and there is usually a time delay between the master and slave. According to control theory, communication delays inject energy into the system and disrupt its passivity, easily triggering violent oscillations and ultimately leading to system instability. This is unacceptable in high-risk scenarios such as live-line work on power distribution networks.

[0003] In related technologies, a fixed impedance is typically used to encode the transmitted force and velocity signals into a pair of forward-propagating and backward-propagating wave variables. Through this transformation, the communication channel, which has communication delays, is simulated as a passive two-port network, thus ensuring the stability of the entire teleoperation system under the presence of delays. However, in demanding applications such as live-line work on distribution networks, the task process includes multiple stages such as "remote approach," "precise alignment," and "contact operation." Using a fixed impedance for wave variable transformation is difficult to meet the system requirements of multiple operation stages. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a control method for a bilateral teleoperation system based on adaptive wave impedance. This method employs variable wave impedance for wave variable transformation and adjusts and updates the variable wave impedance based on fuzzy logic, thereby enabling the bilateral teleoperation system to meet the system requirements of multiple operation stages.

[0005] The technical solution adopted in this invention is as follows: A control method for a bilateral teleoperation system based on adaptive wave impedance, the bilateral teleoperation system including a master-end force feedback device, a slave-end collaborative manipulator, and a communication channel, the communication channel being used for signal transmission between the master-end force feedback device and the slave-end collaborative manipulator, the control method comprising the following steps: S1, constructing a joint space dynamics model of the bilateral teleoperation system based on the dynamic characteristics of the master-end force feedback device and the slave-end collaborative manipulator; S2, based on the joint space dynamics model, using variable wave impedance to perform wave variable transformation on the velocity vector and force variable corresponding to the master-end force feedback device and the slave-end collaborative manipulator, respectively, and acquiring the state parameters of the bilateral teleoperation system in real time; S3, within a preset time window... S4. The current task status of the bilateral teleoperation system is determined using the contact force threshold method. S5. The stability, responsiveness, and transparency of the bilateral teleoperation system are evaluated based on the state parameters. A fuzzy logic controller is used to perform fuzzy inference to calculate the wave impedance adjustment amount. S6. The variable wave impedance is adjusted and updated according to the wave impedance adjustment amount. Based on the adjusted and updated wave impedance, wave variable transformation is performed on the velocity vector and force variable corresponding to the master force feedback device and the slave collaborative robotic arm to obtain the corresponding wave variable signals. S7. The wave variable signals are transmitted in the communication channel.

[0006] In one embodiment of the present invention, the joint space dynamics model is generated by the following formula: , in, and These respectively represent the master-end force feedback device and the slave-end collaborative robotic arm; and These represent the velocity vectors of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the velocity vectors of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the acceleration vectors of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the mass inertia matrices of the master-end force feedback device and the slave-end cooperative robotic arm, respectively. and These represent the Coriolis force matrices of the master-end force feedback device and the slave-end cooperative robotic arm, respectively. and These represent the gravity matrices of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. This indicates the external force acting on the main force feedback device. This represents the force exerted by the slave-end collaborative robotic arm on the environment. and This indicates the control input for the master-end force feedback device and the slave-end collaborative robotic arm.

[0007] In one embodiment of the present invention, wave variable transformation is performed on the velocity vector and force variable corresponding to the master-end force feedback device and the slave-end collaborative robotic arm using the following formula: , in, Indicates forward delay. Indicates backward delay. This represents the forward wave variable of the slave-end collaborative robotic arm. This represents the backward wave variable of the main-end force feedback device. This represents the forward wave variable of the main-end force feedback device. This represents the backward wave variable of the slave-end collaborative robotic arm. This refers to the variable wave impedance.

[0008] In one embodiment of the present invention, the stability index is calculated using the following formula: , in, This represents the speed variance of the slave-end collaborative robotic arm. This indicates that the speed of the slave-end collaborative robotic arm has a zero crossing rate. This represents the first weighting coefficient. This represents the second weighting coefficient. This refers to the stability index.

[0009] In one embodiment of the present invention, the responsiveness index is calculated using the following formula: , in, This represents the root mean square error in position tracking between the master-end force feedback device and the slave-end collaborative robotic arm within the preset time window. This represents the root mean square error of force tracking between the master-end force feedback device and the slave-end collaborative robotic arm within the preset time window. This represents the third weighting coefficient. This represents the fourth weighting coefficient. This refers to the responsiveness index.

[0010] In one embodiment of the present invention, the transparency index is calculated using the following formula: , in, Indicates the sensing impedance at the main terminal. Indicates the ambient impedance at the slave end. Represents positive numbers. This refers to the transparency index.

[0011] A control system for a bilateral teleoperation system based on adaptive wave impedance, the bilateral teleoperation system including a master-end force feedback device, a slave-end collaborative manipulator, and a communication channel, the communication channel being used for signal transmission between the master-end force feedback device and the slave-end collaborative manipulator. The control system includes: a construction module, used to construct a joint space dynamics model of the bilateral teleoperation system based on the dynamic characteristics of the master-end force feedback device and the slave-end collaborative manipulator; an acquisition module, used to perform wave variable transformation on the velocity vectors and force variables corresponding to the master-end force feedback device and the slave-end collaborative manipulator using variable wave impedance based on the joint space dynamics model, and to acquire the state parameters of the bilateral teleoperation system in real time; and an evaluation module, used to evaluate the state parameters within a preset time window based on the state parameters. The system comprises: a state parameter evaluation module for the stability, responsiveness, and transparency of the bilateral teleoperation system; a judgment module for determining the current task status of the bilateral teleoperation system using a contact force threshold method; a calculation module for calculating the wave impedance adjustment amount by using the stability, responsiveness, transparency, and current task status as inputs and performing fuzzy inference using a fuzzy logic controller; an acquisition module for adjusting and updating the variable wave impedance based on the wave impedance adjustment amount, and performing wave variable transformation on the velocity vector and force variable corresponding to the master force feedback device and the slave collaborative robotic arm based on the adjusted and updated wave impedance to obtain the corresponding wave variable signals; and a transmission module for transmitting signals based on the wave variable signals in the communication channel.

[0012] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the control method of the aforementioned bilateral teleoperation system based on adaptive wave impedance.

[0013] A non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned control method for a bilateral teleoperation system based on adaptive wave impedance.

[0014] The beneficial effects of this invention are: This invention employs variable wave impedance for wave variable transformation and adjusts and updates the variable wave impedance based on fuzzy logic, thereby enabling the bilateral teleoperation system to meet the system requirements of multiple operation stages. Attached Figure Description

[0015] Figure 1 This is a flowchart of a control method for a bilateral teleoperation system based on adaptive wave impedance, according to an embodiment of the present invention. Figure 2 This is a block diagram of wave variable transformation according to an embodiment of the present invention; Figure 3 A comparison diagram of the slave position tracking error between the fuzzy logic adaptive wave impedance method and the fixed high / low wave impedance method in a specific embodiment of the present invention; Figure 4 A comparison diagram of the slave-end contact force using the fuzzy logic adaptive wave impedance method and the fixed high / low wave impedance method in a specific embodiment of the present invention; Figure 5 This is a comparison diagram of wave impedance changes between a fuzzy logic adaptive wave impedance method and a fixed high / low wave impedance method, according to a specific embodiment of the present invention. Figure 6 This is a line graph comparing the performance of a fuzzy logic adaptive wave impedance method and a fixed high / low wave impedance method according to a specific embodiment of the present invention. Figure 7 A bar chart comparing the performance of a fuzzy logic adaptive wave impedance method and a fixed high / low wave impedance method according to a specific embodiment of the present invention. Figure 8 This is a block diagram of the control system of the bilateral teleoperation system based on adaptive wave impedance according to an embodiment of the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Figure 1 This is a flowchart of the control method of the bilateral teleoperation system based on adaptive wave impedance according to an embodiment of the present invention.

[0018] It should be noted that, in one embodiment of the present invention, the bilateral teleoperation system includes a master force feedback device, a slave collaborative robotic arm, and a communication channel, wherein the communication channel is used for signal transmission between the master force feedback device and the slave collaborative robotic arm.

[0019] The master-end force feedback device is equipped with a position encoder, force sensor, and force feedback actuator. The operator generates motion commands that are sent to the slave-end collaborative robotic arm, which then senses the interactive forces from the remote environment. The slave-end collaborative robotic arm is equipped with a joint encoder, torque sensor, and end effector force sensor to perform tasks in a remote environment.

[0020] like Figure 1 As shown, the control method of the bilateral teleoperation system based on adaptive wave impedance in this embodiment of the invention may include the following steps: S1. Based on the dynamic characteristics of the master-end force feedback device and the slave-end collaborative robotic arm, a joint space dynamic model of the bilateral teleoperation system is constructed.

[0021] Specifically, to ensure precise control design, this invention first models the bilateral teleoperation system. The dynamic behavior of the master-end force feedback device and the slave-end collaborative robotic arm can be described by the Euler-Lagrange equations, and the model is unified to the joint space through kinematic relationships.

[0022] In one embodiment of the present invention, the joint space dynamics model is generated using the following formula: , (1) in, and These represent the master-end force feedback device and the slave-end collaborative robotic arm, respectively. Indicates time t; and These represent the velocity vectors of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the velocity vectors of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the acceleration vectors of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the mass inertia matrices of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the Coriolis force matrices of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the gravity matrices of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. This indicates the external force acting on the main force feedback device. This represents the force exerted by the collaborative robotic arm on the environment. and This indicates the control inputs of the master force feedback device and the slave collaborative robotic arm.

[0023] S2, based on the joint space dynamics model, uses variable wave impedance to transform the velocity vector and force variables corresponding to the master-end force feedback device and the slave-end collaborative robotic arm, and collects the state parameters of the bilateral teleoperation system in real time.

[0024] Specifically, such as Figure 2 As shown, to address the system instability caused by communication delay, in one embodiment of this invention, a wave variable transformation framework can be employed to transform the force and velocity signals of the bilateral teleoperation system, such as the external force exerted by the operator on the master end and the force exerted by the slave end on the environment, through a variable wave impedance. The signal is encoded as a wave variable signal transmitted in the communication channel to ensure the system's passivity under communication delay. Specifically, the wave variable transformation of the velocity vector and force variable corresponding to the master force feedback device and the slave collaborative robotic arm can be performed using the following formula: , (2) in, Indicates forward delay. Indicates backward delay. This represents the forward wave variable of the collaborative robotic arm. This represents the backward wave variable of the main force feedback device. This represents the forward wave variable of the main force feedback device. This represents the backward wave variable of the collaborative robotic arm. This indicates variable wave impedance.

[0025] Through wave variable transformation, the communication channel with time delay is equivalent to a passive two-port network, providing a theoretical guarantee for system stability.

[0026] S3, within a preset time window, evaluates the stability, responsiveness, and transparency indicators of the bilateral teleoperation system based on state parameters.

[0027] Specifically, to achieve adaptive control, this invention transforms the system performance of the bilateral teleoperation system into calculable and quantifiable objective indicators. By real-time acquisition of the bilateral teleoperation system's state parameters, multiple performance indicators are quantitatively evaluated online within a preset time window. These performance indicators may include stability, responsiveness, and transparency. The stability indicator quantifies the degree of system oscillation and jitter, evaluated based on the velocity variance and zero-crossing rate of the slave-end collaborative robotic arm. The responsiveness indicator comprehensively evaluates the system's dynamic tracking accuracy and speed to operator commands, evaluated based on the root mean square error of master-slave position tracking and the root mean square error of master-slave force tracking. The transparency indicator comprehensively evaluates the operator's accuracy in reproducing the remote environment's perception, evaluated based on the matching degree between the master-end sensing impedance and the slave-end environmental impedance.

[0028] In one embodiment of the present invention, the stability index can be calculated using the following formula: , (3) in, This represents the velocity variance of the robotic arm at the end of the oscillation, reflecting the amplitude of the oscillation. This indicates that the zero-crossing rate of the collaborative robotic arm at the end reflects the frequency of the oscillation. This represents the first weighting coefficient. This represents the second weighting coefficient. This indicates a stability index.

[0029] In one embodiment of the present invention, the responsiveness index can be calculated using the following formula: , (4) in, This represents the root mean square error in position tracking between the master-end force feedback device and the slave-end collaborative robotic arm within a preset time window. This represents the root mean square error of force tracking between the master-end force feedback device and the slave-end collaborative robotic arm within a preset time window. This represents the third weighting coefficient. This represents the fourth weighting coefficient. This indicates a responsiveness indicator.

[0030] In one embodiment of the present invention, the transparency index can be calculated using the following formula: , (5) in, Indicates the sensing impedance at the main terminal; ; Indicates the ambient impedance at the slave end; ; It represents positive numbers, specifically very small positive numbers that prevent the denominator from being zero; Indicators representing transparency.

[0031] S4. The contact force threshold method is used to determine the current task status of the bilateral teleoperation system.

[0032] Specifically, in one embodiment of the present invention, when If the bilateral teleoperation system is in a "contact state," it is determined to be in a "free space state." Otherwise, it is determined to be in a "free space state." This indicates the force threshold for determining contact. This represents the force exerted by the collaborative robotic arm on the environment.

[0033] S5 takes stability index, responsiveness index, transparency index and current task status as input, and uses fuzzy logic controller to perform fuzzy inference to calculate the wave impedance adjustment amount.

[0034] Specifically, firstly, fuzzification can be performed, that is, converting performance indicators and task states into fuzzy variables through membership functions. Specifically, taking the stability indicator as an example, three fuzzy sets {low, medium, high} are defined, using triangular or trapezoidal membership functions. Secondly, fuzzy rules are established. Considering the complexity and security requirements of teleoperation tasks, the rule base is designed to comprehensively cover various typical operating conditions. To clearly illustrate the core decision-making logic of the fuzzy logic controller of this invention, the following four representative rules are selected for explanation. These four rules represent the decision-making behavior of the fuzzy logic controller in four key scenarios, namely... Rule 1 (Security Emergency Response Scenario): IF (Stability Indicators) (Low) AND (Task status is contact) THEN (Impedance adjustment amount) (for a significant increase) Rule 2 (Response Performance Optimization): IF (Stability Indicators) (High) AND (Task status is in free space) AND (Responsiveness metrics) (Low) THEN (Sound impedance adjustment amount) (to significantly reduce) Rule 3 (Maintaining Stable Contact): IF (Stability Index) (High) AND (Task status is contact) THEN (Impedance adjustment amount) (to remain unchanged); Rule S4 (Adjustments to reduce risk): IF (Stability Indicator) (For medium) AND (Task status is contact) THEN (Impedance adjustment amount) (This is a slight increase).

[0035] It should be noted that the fuzzy rule base can also cover other combinations to ensure security and user experience at different stages of operation, which will not be limited here.

[0036] Then, defuzzification is performed, that is, the centroid method is used to calculate the precise wave impedance adjustment: , (6) in, This indicates that the output is the discrete value in the domain of the membership function. express The corresponding membership degree, This indicates the amount of wave impedance adjustment.

[0037] S6, adjust and update the variable wave impedance according to the wave impedance adjustment amount, and perform wave variable transformation on the velocity vector and force variable corresponding to the master force feedback device and the slave collaborative robot arm based on the adjusted and updated wave impedance to obtain the corresponding wave variable signal.

[0038] Specifically, in one embodiment of the present invention, the variable wave impedance and the wave impedance adjustment amount can be summed to obtain the adjusted and updated wave impedance.

[0039] It should be noted that, in order to ensure safety, the amplitude of the wave impedance is limited, that is, the adjusted and updated wave impedance is within a preset range.

[0040] S7 transmits signals in the communication channel based on wave variable signals.

[0041] Specifically, after adjusting and updating the variable wave impedance according to the wave impedance adjustment amount, wave variable transformation is performed on the velocity vector and force variable corresponding to the master force feedback device and the slave collaborative robot arm based on the adjusted and updated wave impedance. Specifically, wave variable transformation can be performed according to formula (2) to obtain the corresponding wave variable signal. Then, signal transmission is performed in the communication channel based on the wave variable signal.

[0042] Therefore, this invention, by real-time acquisition of system state parameters, quantitatively evaluates the system's stability, responsiveness, transparency, and other multi-dimensional performance indicators. Combined with task status judgment, this provides a basis for adaptive adjustment. Furthermore, by introducing adaptive closed-loop control, this invention enables the wave impedance to dynamically and intelligently balance "stability" and "transparency" according to task requirements, mitigating the inherent contradiction between "stability" and "transparency" that has long existed in the field of teleoperation. During free space movement, the system exhibits low impedance characteristics, resulting in smooth operation and fast response. When in contact with the environment, the system automatically increases impedance, effectively suppressing oscillations and ensuring operational stability and safety. The robustness of fuzzy control gives the system good adaptability to model uncertainties and external disturbances. The entire control strategy, based on real-time performance evaluation, can autonomously perceive the task status and automatically switch to the optimal control mode, making it particularly suitable for complex, multi-stage, and demanding tasks such as live-line work on distribution networks.

[0043] In one specific embodiment of the present invention, the operator performs a composite task comprising two stages under fixed low impedance, fixed high impedance, and adaptive impedance (i.e., variable wave impedance): (1) Free space stage: The operator manipulates the master-end force feedback device to move in space along a preset trajectory, causing the end of the slave-end collaborative robotic arm to move from the starting point to near the surface of the target object. This stage mainly tests the responsiveness and position tracking accuracy of the system; (2) Contact operation stage: After the end of the slave-end collaborative robotic arm contacts an object, the operator needs to maintain a stable contact force and slide along the surface of the object. This stage mainly tests the stability of the system in the contact state and the transparency of the force feedback.

[0044] Among them, such as Figure 3 As shown, in the free space phase, the position tracking error curve using the present invention almost overlaps with the curve of the low impedance method, with both error values ​​remaining at a low level of approximately 2 mm; while the error of the high impedance method is approximately 12 mm, which is significantly larger. This indicates that the adaptive strategy of the present invention ensures smooth operation and high responsiveness; as Figure 4 As shown, during the contact operation phase, the low-impedance method generates severe oscillations at the moment of contact, resulting in extremely unstable contact forces and making it almost impossible to complete a smooth surface exploration task. In contrast, after adopting the adaptive strategy of this invention, the degree of oscillation is as slight as that of the high-impedance method, and the contact force is relatively stable. Furthermore, as... Figure 5 As shown, the fuzzy logic controller of the present invention can quickly and intelligently raise the wave impedance to a higher level after detecting contact, thereby effectively suppressing energy injection caused by contact impact and time delay, and ensuring the stability of the system.

[0045] like Figure 6 and 7As shown, in summary, fixed impedance methods (whether fixed low impedance or fixed high impedance) inevitably compromise on certain aspects, failing to address both stages of the task simultaneously. In contrast, the adaptive impedance strategy of this invention dynamically balances stability and transparency during the task, consistently maintaining optimal overall performance. Compared to fixed low impedance, stability, responsiveness, and transparency increase by 22.4%, 14.6%, and 17.1%, respectively; compared to fixed high impedance, stability, responsiveness, and transparency increase by 0.9%, 33.5%, and 29.3%, respectively.

[0046] In summary, the control method of the bilateral teleoperation system based on adaptive wave impedance according to the embodiments of the present invention constructs a joint space dynamic model of the bilateral teleoperation system based on the dynamic characteristics of the master-end force feedback device and the slave-end collaborative manipulator. Based on the joint space dynamic model, a variable wave impedance is used to perform wave variable transformation on the velocity vector and force variable corresponding to the master-end force feedback device and the slave-end collaborative manipulator, respectively. The state parameters of the bilateral teleoperation system are collected in real time. Within a preset time window, the stability index, responsiveness index, and transparency index of the bilateral teleoperation system are evaluated based on the state parameters. The current task state of the bilateral teleoperation system is determined by the contact force threshold method. The stability index, responsiveness index, transparency index, and current task state are used as inputs. A fuzzy logic controller is used for fuzzy inference to calculate the wave impedance adjustment amount. The variable wave impedance is adjusted and updated according to the wave impedance adjustment amount. Based on the adjusted and updated wave impedance, the velocity vector and force variable corresponding to the master-end force feedback device and the slave-end collaborative manipulator are transformed into wave variables to obtain the corresponding wave variable signals. The wave variable signals are then transmitted in the communication channel. Therefore, by using variable wave impedance for wave variable transformation and adjusting and updating the variable wave impedance based on fuzzy logic, the bilateral teleoperation system can meet the system requirements of multiple operation stages.

[0047] Corresponding to the control method of the bilateral teleoperation system based on adaptive wave impedance in the above embodiments, the present invention also proposes a control system based on the bilateral teleoperation system based on adaptive wave impedance.

[0048] It should be noted that the bilateral teleoperation system of this invention may include a master force feedback device, a slave collaborative robotic arm, and a communication channel. The communication channel is used for signal transmission between the master force feedback device and the slave collaborative robotic arm.

[0049] like Figure 8 As shown, the control system of the bilateral teleoperation system based on adaptive wave impedance in this embodiment of the invention may include: a construction module 100, an acquisition module 200, an evaluation module 300, a judgment module 400, a calculation module 500, an acquisition module 600, and a transmission module 700.

[0050] The system comprises the following modules: Construction module 100 constructs a joint space dynamics model of the bilateral teleoperation system based on the dynamic characteristics of the master-end force feedback device and the slave-end collaborative manipulator; Acquisition module 200, based on the joint space dynamics model, performs wave variable transformation on the velocity vectors and force variables corresponding to the master-end force feedback device and the slave-end collaborative manipulator using variable wave impedance, and acquires the state parameters of the bilateral teleoperation system in real time; Evaluation module 300 evaluates the stability, responsiveness, and transparency indices of the bilateral teleoperation system based on the state parameters within a preset time window; Judgment module 400 uses the contact force threshold method to determine the current task state of the bilateral teleoperation system; Calculation module 500 uses the stability, responsiveness, transparency, and current task state as inputs, performs fuzzy inference using a fuzzy logic controller, and calculates the wave impedance adjustment amount; Acquisition module 600 adjusts and updates the variable wave impedance according to the wave impedance adjustment amount, and performs wave variable transformation on the velocity vectors and force variables corresponding to the master-end force feedback device and the slave-end collaborative manipulator based on the adjusted and updated wave impedance to acquire the corresponding wave variable signals; and Transmission module 700 transmits signals in the communication channel based on the wave variable signals.

[0051] In one embodiment of the present invention, the joint space dynamics model is generated using the following formula: , in, and These represent the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the velocity vectors of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the velocity vectors of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the acceleration vectors of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the mass inertia matrices of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the Coriolis force matrices of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. and These represent the gravity matrices of the master-end force feedback device and the slave-end collaborative robotic arm, respectively. This indicates the external force acting on the main force feedback device. This represents the force exerted by the collaborative robotic arm on the environment. and This indicates the control inputs of the master force feedback device and the slave collaborative robotic arm.

[0052] In one embodiment of the present invention, the velocity vector and force variable corresponding to the master-end force feedback device and the slave-end collaborative robotic arm are transformed into wave variables using the following formula: , in, Indicates forward delay. Indicates backward delay. This represents the forward wave variable of the collaborative robotic arm. This represents the backward wave variable of the main force feedback device. This represents the forward wave variable of the main force feedback device. This represents the backward wave variable of the collaborative robotic arm. This indicates variable wave impedance.

[0053] In one embodiment of the present invention, the stability index is calculated using the following formula: , in, This represents the speed variance of the collaborative robotic arm. This indicates that the collaborative robotic arm has a zero-crossing rate. This represents the first weighting coefficient. This represents the second weighting coefficient. This indicates a stability index.

[0054] In one embodiment of the present invention, the responsiveness index is calculated using the following formula: , in, This represents the root mean square error in position tracking between the master-end force feedback device and the slave-end collaborative robotic arm within a preset time window. This represents the root mean square error of force tracking between the master-end force feedback device and the slave-end collaborative robotic arm within a preset time window. This represents the third weighting coefficient. This represents the fourth weighting coefficient. This indicates a responsiveness indicator.

[0055] In one embodiment of the present invention, the transparency index is calculated using the following formula: , in, Indicates the sensing impedance at the main terminal. Indicates the ambient impedance at the slave end. Represents positive numbers. Indicators representing transparency.

[0056] It should be noted that for details not disclosed in the control system section of the bilateral teleoperation system based on adaptive wave impedance in the embodiments of the present invention, please refer to the details disclosed in the control method of the bilateral teleoperation system based on adaptive wave impedance described above, which will not be elaborated here.

[0057] According to an embodiment of the present invention, the control system of the bilateral teleoperation system based on adaptive wave impedance comprises: a construction module constructing a joint space dynamic model of the bilateral teleoperation system based on the dynamic characteristics of the master-end force feedback device and the slave-end collaborative manipulator; an acquisition module performing wave variable transformation on the velocity vectors and force variables corresponding to the master-end force feedback device and the slave-end collaborative manipulator based on the joint space dynamic model using variable wave impedance, and acquiring the state parameters of the bilateral teleoperation system in real time; an evaluation module evaluating the stability, responsiveness, and transparency indices of the bilateral teleoperation system based on the state parameters within a preset time window; a judgment module determining the current task state of the bilateral teleoperation system using the contact force threshold method; a calculation module using the stability, responsiveness, transparency, and current task state as inputs, performing fuzzy inference using a fuzzy logic controller to calculate the wave impedance adjustment amount; an acquisition module adjusting and updating the variable wave impedance based on the wave impedance adjustment amount, and performing wave variable transformation on the velocity vectors and force variables corresponding to the master-end force feedback device and the slave-end collaborative manipulator based on the adjusted and updated wave impedance to obtain the corresponding wave variable signals; and a transmission module transmitting the wave variable signals in a communication channel. Therefore, by using variable wave impedance for wave variable transformation and adjusting and updating the variable wave impedance based on fuzzy logic, the bilateral teleoperation system can meet the system requirements of multiple operation stages.

[0058] Corresponding to the above embodiments, the present invention also proposes a computer device.

[0059] The computer device of this invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the control method of the bilateral teleoperation system based on adaptive wave impedance described in the above embodiments.

[0060] According to the computer device of the present invention, a variable wave impedance is used for wave variable transformation, and the variable wave impedance is adjusted and updated based on fuzzy logic, so that the bilateral teleoperation system can meet the system requirements of multiple operation stages.

[0061] Corresponding to the above embodiments, the present invention also proposes a non-transitory computer-readable storage medium.

[0062] The non-transitory computer-readable storage medium of this invention stores a computer program that, when executed by a processor, implements the control method of the bilateral teleoperation system based on adaptive wave impedance described above.

[0063] According to embodiments of the present invention, a non-transitory computer-readable storage medium employs variable wave impedance for wave variable transformation and adjusts and updates the variable wave impedance based on fuzzy logic, thereby enabling the bilateral teleoperation system to meet the system requirements of multiple operation stages.

[0064] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0065] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0067] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0068] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0069] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method of a bilateral teleoperation system based on adaptive wave impedance, the bilateral teleoperation system including a master force feedback device, a slave collaborative robot arm, and a communication channel for signal transmission between the master force feedback device and the slave collaborative robot arm, the control method comprising: determining a desired impedance of the slave collaborative robot arm; determining a desired impedance of the master force feedback device; determining a desired impedance of the communication channel; and determining a desired impedance of the bilateral teleoperation system based on the desired impedance of the slave collaborative robot arm, the desired impedance of the master force feedback device, and the desired impedance of the communication channel. The control method comprises the following steps: S1, based on the dynamics characteristics of the master force feedback device and the slave collaborative manipulator, a joint space dynamics model of the bilateral teleoperation system is constructed; S2, based on the joint space dynamics model, a variable wave impedance is used to respectively perform wave variable transformation on the velocity vector and the force variable corresponding to the master force feedback device and the slave collaborative manipulator, and the state parameters of the bilateral teleoperation system are collected in real time; S3, within a preset time window, the stability index, the responsiveness index and the transparency index of the bilateral teleoperation system are evaluated according to the state parameters; S4, a contact force threshold method is used to judge the current task state of the bilateral teleoperation system; S5, the stability index, the responsiveness index, the transparency index and the current task state are taken as inputs, a fuzzy logic controller is used for fuzzy reasoning, and a wave impedance adjustment amount is calculated; S6, the variable wave impedance is adjusted and updated according to the wave impedance adjustment amount, and the velocity vector and the force variable corresponding to the master force feedback device and the slave collaborative manipulator are respectively transformed based on the adjusted and updated wave impedance to obtain corresponding wave variable signals; S7, signal transmission is performed in the communication channel based on the wave variable signals.

2. The control method of the adaptive wave impedance based bilateral teleoperation system of claim 1, wherein, The joint space dynamics model is generated by the following formula: ， wherein, and denote the master force feedback device and the slave collaborative robot arm, respectively; and denote the velocity vectors of the master force feedback device and the slave collaborative robot arm, respectively; and denote the velocity vectors of the master force feedback device and the slave collaborative robot arm, respectively; and denote the acceleration vectors of the master force feedback device and the slave collaborative robot arm, respectively; and denote the mass inertia matrices of the master force feedback device and the slave collaborative robot arm, respectively; and denote the Coriolis force matrices of the master force feedback device and the slave collaborative robot arm, respectively; and denote the gravity matrices of the master force feedback device and the slave collaborative robot arm, respectively; denotes the external force acting on the master force feedback device, denotes the force of the slave collaborative robot arm acting on the environment, and denote the control inputs of the master force feedback device and the slave collaborative robot arm.

3. The control method of the adaptive wave impedance based bilateral teleoperation system of claim 2, wherein, The velocity vector and the force variable corresponding to the master force feedback device and the slave collaborative manipulator are transformed by the following formula: ， wherein, represents a forward time delay, represents a backward time delay, represents a forward wave variable of the slave collaborative robotic arm, represents a backward wave variable of the master force feedback device, represents a forward wave variable of the master force feedback device, represents a backward wave variable of the slave collaborative robotic arm, represents the variable wave impedance.

4. The control method of the adaptive wave impedance based bilateral teleoperation system of claim 3, wherein, The stability index is calculated by the following formula: ， wherein, denotes a speed variance of the slave collaborative robot arm, denotes a speed zero-crossing rate of the slave collaborative robot arm, denotes a first weight coefficient, denotes a second weight coefficient, denotes the stability indicator.

5. The control method of the adaptive wave impedance based bilateral teleoperation system of claim 4, wherein, The responsiveness index is calculated by the following formula: ， wherein, denotes a position tracking root mean square error of the master force feedback device and the slave collaborative robot arm within the preset time window, denotes a force tracking root mean square error of the master force feedback device and the slave collaborative robot arm within the preset time window, denotes a third weight coefficient, denotes a fourth weight coefficient, denotes the responsiveness index.

6. The control method of the adaptive wave impedance based bilateral teleoperation system of claim 5, wherein, The transparency index is calculated by the following formula: ， wherein, represents the master end perceived impedance, represents the slave end environmental impedance, represents a real number, represents the transparency indicator.

7. A control system for a bilateral teleoperation system based on adaptive wave impedance, the bilateral teleoperation system comprising a master-end force feedback device, a slave-end cooperative robotic arm, and a communication channel, the communication channel being used for signal transmission between the master-end force feedback device and the slave-end cooperative robotic arm, characterized in that, The control system comprises: A construction module is configured to construct a joint space dynamics model of the bilateral teleoperation system based on the dynamics characteristics of the master force feedback device and the slave collaborative manipulator; An acquisition module is configured to transform the velocity vector and the force variable corresponding to the master force feedback device and the slave collaborative manipulator based on the joint space dynamics model by using a variable wave impedance, and to collect state parameters of the bilateral teleoperation system in real time; An evaluation module is configured to evaluate the stability index, the responsiveness index and the transparency index of the bilateral teleoperation system according to the state parameters within a preset time window; A judgment module is configured to judge the current task state of the bilateral teleoperation system by using a contact force threshold method; A calculation module is configured to take the stability index, the responsiveness index, the transparency index and the current task state as inputs, to perform fuzzy reasoning by using a fuzzy logic controller, and to calculate a wave impedance adjustment amount; An acquisition module is configured to adjust and update the variable wave impedance according to the wave impedance adjustment amount, and to transform the velocity vector and the force variable corresponding to the master force feedback device and the slave collaborative manipulator based on the adjusted and updated wave impedance to obtain corresponding wave variable signals; a transmission module configured to transmit a signal over the communication channel based on the wave variable signal.

8. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the control method of the bilateral teleoperation system based on adaptive wave impedance according to any one of claims 1-6.

9. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to realize the control method of the bilateral teleoperation system based on adaptive wave impedance according to any one of claims 1-6.

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