Robotic arm teleoperation control method, system, and storage medium

Abstract

This application relates to the field of robotic arm technology, and discloses a robotic arm teleoperation control method, system, and storage medium. The method includes determining a current pose transformation matrix based on the current pose matrix and initial pose matrix of the teleoperated target; determining a target pose matrix of the robotic arm based on the current pose transformation matrix and the initial pose matrix of the robotic arm; solving the target pose matrix of the robotic arm based on a robotic arm model and an inverse kinematics algorithm; and controlling the movement of the robotic arm. Through this method, this application obtains the initial poses of the robotic arm and the teleoperated target, and during teleoperation, only maps the pose transformation of the teleoperated target to the robotic arm, so that the robotic arm does not need to maintain pose alignment with the teleoperated target at startup. By employing incremental mapping and inverse kinematics calculation, teleoperation can be initiated from any position of the robotic arm using a teleoperated target capable of outputting spatial pose.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a method, system and storage medium for remote operation control of a robotic arm. Background Technology

[0002] In robot imitation learning, reinforcement learning, and practical industrial teleoperation scenarios, it is often necessary to collect motion data of the robotic arm performing tasks through manual teleoperation, or to directly control the robotic arm remotely to complete complex operations. Currently, mainstream robotic arm teleoperation solutions mainly include: master-slave robotic arm teleoperation, motion capture teleoperation, and controller teleoperation based on VR (Virtual Reality) devices.

[0003] Remote operation solutions based on VR devices generally require the robotic arm to return to its initial "zero point" pose beforehand and be strictly aligned with the pose of the remote control handle in order to establish a control mapping relationship. When the robotic arm stops in a random pose due to abnormal shutdown, task interruption, or malfunction, existing solutions cannot directly resume remote operation from the current position. It must be reset first and then restarted, which seriously affects task continuity and data acquisition efficiency.

[0004] Furthermore, in the data acquisition phase of imitation learning and reinforcement learning, it is often necessary to deliberately start the robotic arm from incorrect or non-standard initial poses, and then manually teleoperate to restore the robotic arm from the abnormal state to the normal task flow, in order to collect "fault-recovery" data and expand the data distribution for model training. However, existing teleoperation technologies all rely on fixed initial poses and pose pre-alignment, which cannot meet the requirement of directly initiating teleoperation from any pose, thus limiting the diversity of learning data and the adaptability of teleoperation scenarios. Therefore, in the process of teleoperating a robotic arm, how to enable the robotic arm to break away from a fixed initial pose and then initiate teleoperation when the robotic arm is in any pose has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides a method, system, and storage medium for remote operation control of a robotic arm, enabling the robotic arm to detach from a fixed initial pose and then initiate remote operation when the robotic arm is in any pose.

[0006] In a first aspect, this application provides a method for remotely controlling a robotic arm, the method comprising: The current pose matrix of the remotely controlled target is acquired according to a preset acquisition frequency. The current pose transformation matrix is ​​determined based on the current pose matrix and the initial pose matrix of the remotely controlled target. The initial pose matrix of the remotely controlled target is obtained when the remote operation is initially started. The target pose matrix of the robotic arm is determined based on the current pose transformation matrix and the initial pose matrix of the robotic arm. The initial pose matrix of the robotic arm is obtained during the initial start of teleoperation. The target pose matrix of the robotic arm is calculated based on the robotic arm model and inverse kinematics algorithm, and the movement of the robotic arm is controlled based on the calculation results.

[0007] Secondly, this application also provides a robotic arm teleoperation control system, the system comprising: A robotic arm, including at least one robotic arm joint, for performing teleoperated movements; A remotely controlled target, positioned on the user's hand, is used to output the pose matrix of the remotely controlled target; The pose acquisition module is connected to the robotic arm and the remotely operated target respectively, and is used to acquire the pose matrix of the robotic arm and the remotely operated target; The pose calculation module is used to calculate the pose transformation matrix of the remotely controlled target and map the pose transformation matrix to the robotic arm to obtain the target pose matrix of the robotic arm. The inverse kinematics solution module is used to determine the joint angle combination based on the DH parameters of the robotic arm, the inverse kinematics algorithm, and the target pose matrix of the robotic arm. A robotic arm joint controller is used to determine a target joint angle control amount based on the joint angle combination, and generate a drive signal based on the target joint angle control amount to drive the movement of each joint of the robotic arm, so that the robotic arm reaches the target position and target posture corresponding to the target pose matrix of the robotic arm.

[0008] Thirdly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the robotic arm teleoperation control method described above.

[0009] This application discloses a method, system, and storage medium for teleoperation control of a robotic arm. The method includes: acquiring the current pose matrix of the teleoperated target at a preset acquisition frequency; determining a current pose transformation matrix based on the current pose matrix and the initial pose matrix of the teleoperated target, wherein the initial pose matrix of the teleoperated target is obtained at the initial start of teleoperation; determining a target pose matrix of the robotic arm based on the current pose transformation matrix and the initial pose matrix of the robotic arm, wherein the initial pose matrix of the robotic arm is obtained at the initial start of teleoperation; solving the target pose matrix of the robotic arm based on a robotic arm model and an inverse kinematics algorithm; and controlling the movement of the robotic arm based on the solution result. Through this method, this application acquires the initial poses of the robotic arm and the teleoperated target, and during teleoperation, only maps the pose transformation of the teleoperated target to the robotic arm, so that the robotic arm does not need to maintain pose alignment with the teleoperated target at startup. By employing incremental mapping and inverse kinematics solution, teleoperation can be initiated from any position of the robotic arm by using a teleoperated target capable of outputting spatial pose. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic flowchart of a robotic arm teleoperation control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of pose transformation of a robotic arm teleoperation control method provided in an embodiment of this application; Figure 3 A schematic block diagram of a robotic arm teleoperation control device provided for embodiments of this application; Figure 4 A schematic block diagram of the structure of a computer device provided for an embodiment of this application. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0014] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0015] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0016] Embodiments of this application provide a method, system, and storage medium for teleoperation control of a robotic arm. The teleoperation control method can be applied to a robotic arm teleoperation control system. By acquiring the initial poses of the robotic arm and the teleoperated target, during teleoperation, only the pose transformation of the teleoperated target is mapped to the robotic arm, eliminating the need for the robotic arm to maintain pose alignment with the teleoperated target at startup. Employing incremental mapping and inverse kinematics calculation, teleoperation can be initiated from any position of the robotic arm using a teleoperated target capable of outputting spatial pose.

[0017] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0018] Please see Figure 1 , Figure 1 This is a schematic flowchart illustrating a robotic arm teleoperation control method provided in an embodiment of this application. This robotic arm teleoperation control method can be applied in a robotic arm teleoperation control system to identify users applying for marketing activities through a terminal. By using a teleoperation target capable of outputting spatial pose, teleoperation can be initiated from any position of the robotic arm.

[0019] like Figure 1 As shown, the remote operation control method for the robotic arm specifically includes steps S10 to S30.

[0020] Step S10: Collect the current pose matrix of the remotely operated target according to the preset acquisition frequency, and determine the current pose transformation matrix based on the current pose matrix of the remotely operated target and the initial pose matrix of the remotely operated target. The initial pose matrix of the remotely operated target is obtained when the remote operation is initially started. Specifically, in this embodiment, the remotely controlled target can be a positioning device worn on the operator's hand. The positioning device can be a visual inertial odometry (VIO) positioning device, a laser positioning receiver, a lidar, and / or a positioning tag sensor. At the initial start of teleoperation, the initial pose matrix of the remotely controlled target is recorded. The initial pose matrix includes the initial position coordinates and initial attitude angle of the remotely controlled target relative to the base coordinate system, and is represented by a homogeneous transformation matrix.

[0021] During teleoperation, the current pose matrix of the target is acquired at a preset acquisition frequency (such as 50Hz or 100Hz, which can be determined according to the response characteristics of the robotic arm and the data output rate of the teleoperated target). The current pose matrix is ​​also represented by a homogeneous transformation matrix, which includes the current position coordinates and current attitude angle of the teleoperated target relative to the base coordinate system.

[0022] When determining the current pose transformation matrix, the initial pose matrix of the teleoperated target is inverted to obtain the initial pose inverse matrix. The initial pose inverse matrix is ​​then multiplied with the current pose matrix of the teleoperated target to obtain the current pose transformation matrix of the teleoperated target. The current pose transformation matrix of the teleoperated target represents the relative motion increment of the teleoperated target from the initial start time of teleoperation to the current time, that is, the position translation and attitude rotation changes of the teleoperated target relative to its own initial coordinate system, rather than the absolute pose relative to the base coordinate system.

[0023] Through the above matrix operations, the conversion from absolute pose to relative motion increment is realized, so that the mapping process depends only on the relative motion of the operator's hand (the remotely controlled target is located in the operator's hand), and not on the absolute positional relationship between the operator's hand and the robotic arm.

[0024] Step S20: Determine the target pose matrix of the robotic arm based on the current pose transformation matrix and the initial pose matrix of the robotic arm. The initial pose matrix of the robotic arm is obtained during the initial start of teleoperation. In some embodiments, the initial pose matrix of the robotic arm is obtained by forward kinematics calculation based on feedback from the robotic arm joint motors and the robotic arm DH parameters during the initial start of teleoperation. The current encoder values ​​of each joint motor of the robotic arm are read, and combined with the robotic arm DH parameters (including the link length, link torsion angle, joint distance, and joint rotation angle of each joint), the initial pose matrix of the robotic arm end effector relative to the robotic arm base is obtained by forward kinematics calculation. The initial pose matrix contains the initial position coordinates and initial attitude angle of the robotic arm end effector, and is represented by a homogeneous transformation matrix.

[0025] When determining the target pose matrix of the robotic arm, the initial pose matrix of the robotic arm is multiplied by the current pose transformation matrix, and the relative motion increment of the remotely controlled target is superimposed on the initial pose of the robotic arm to obtain the target pose matrix of the robotic arm.

[0026] The target pose matrix of the robotic arm includes the target position coordinates and target pose angle of the robotic arm end relative to the robotic arm base, and the initial pose of the robotic arm is only used as a motion reference and does not affect the consistency of relative motion.

[0027] Step S30: Solve the target pose matrix of the robotic arm based on the robotic arm model and inverse kinematics algorithm, and control the movement of the robotic arm based on the solution results.

[0028] Specifically, a robotic arm model is established based on the DH parameters of the robotic arm. This model represents the mapping relationship between joint angles and end-effector pose. Based on the target position coordinates in the robotic arm's target pose matrix, the first set of joint angles is solved using geometric relationships. In this embodiment, the first set of joint angles corresponds to the base joint, shoulder joint, and elbow joint of the robotic arm. Specifically, by separating the wrist position, the target position coordinates are projected onto each motion plane. Using trigonometric functions and the law of cosines, the base joint rotation angle, shoulder joint rotation angle, and elbow joint rotation angle are solved sequentially.

[0029] Based on the target pose angles in the target pose matrix of the robotic arm and the first set of joint angles, the second set of joint angles is solved using the attitude decoupling relationship. In this embodiment, the second set of joint angles corresponds to the wrist joints of the robotic arm (specifically, it may include wrist yaw, pitch and rotation joints). The attitude matrix of the wrist coordinate system relative to the base coordinate system is calculated, and then the angles of each joint of the wrist are solved through attitude decomposition.

[0030] The first and second sets of joint angles are combined to obtain at least one joint angle combination. Due to the pluralistic nature of the robotic arm configuration, there are usually multiple joint angle combinations that satisfy the target pose. The target joint angle combination is selected from at least one such combination. When multiple joint angle combinations exist, the angle change between each combination and the joint angles of the previous control cycle is calculated. The joint angle combination with the smallest angle change is selected as the target joint angle combination to optimize the smoothness of the robotic arm's movement and avoid joint jumps.

[0031] The target joint angles are combined to form the control quantities for each joint angle and sent to the robotic arm joint controller. The robotic arm joint controller converts these control quantities into target position commands for each robotic arm joint motor and sends these commands to the respective motor drivers. Each motor driver controls the corresponding motor to rotate according to the target position command, thus moving the robotic arm links. During the robotic arm's movement, the actual joint angle feedback values ​​of each joint are collected in real time. These feedback values ​​are compared with the target joint angle control quantities to obtain the joint angle deviation. Based on this deviation, the motor drive signals are adjusted using a proportional-integral-derivative (PI-DE) control algorithm to make the actual joint angle feedback values ​​approach the target joint angle control quantities, until the robotic arm end effector precisely reaches the target position and target posture angle corresponding to the target pose matrix.

[0032] This embodiment discloses a teleoperation control method for a robotic arm. The method includes acquiring the current pose matrix of the teleoperated target at a preset acquisition frequency; determining a current pose transformation matrix based on the current pose matrix and the initial pose matrix of the teleoperated target, wherein the initial pose matrix of the teleoperated target is obtained at the initial start of teleoperation; determining a target pose matrix of the robotic arm based on the current pose transformation matrix and the initial pose matrix of the robotic arm, wherein the initial pose matrix of the robotic arm is obtained at the initial start of teleoperation; solving the target pose matrix of the robotic arm based on a robotic arm model and an inverse kinematics algorithm; and controlling the movement of the robotic arm based on the solution result. Through the above method, this application, by acquiring the initial poses of the robotic arm and the teleoperated target, maps only the pose transformation of the teleoperated target to the robotic arm during teleoperation, so that the robotic arm does not need to maintain pose alignment with the teleoperated target at startup. By employing incremental mapping and inverse kinematics solution, teleoperation can be initiated from any position of the robotic arm by using a teleoperated target capable of outputting spatial pose.

[0033] based on Figure 1 In the illustrated embodiment, step S30 includes: Obtain the DH parameters of the robotic arm, and establish the robotic arm model based on the DH parameters. The robotic arm model is used to characterize the mapping relationship between the joint angles of each joint of the robotic arm and the end-effector spatial pose of the robotic arm. In some embodiments, the DH parameters of a robotic arm are a standard parameter system describing the geometric relationships of the links in a series robotic arm. For a robotic arm with n degrees of freedom, n sets of DH parameters need to be determined, each set of DH parameters including four parameters: link length, link torsion angle, joint distance, and joint rotation angle.

[0034] The link length and link torsion angle are fixed geometric parameters determined by the robotic arm structure design. The joint distance is a fixed value for the rotary joint and a variable for the kinetic joint. The joint angle is a variable for the rotary joint and a fixed value for the kinetic joint.

[0035] In this embodiment, the robotic arm model is in the form of a homogeneous transformation matrix, which includes rotational and translational components. The rotational components are represented by a rotation matrix or an equivalent attitude description method (such as roll angle, pitch angle, and yaw angle).

[0036] The inverse kinematics algorithm determines at least one combination of joint angles based on the target pose matrix of the robotic arm and the robotic arm model. The combination of joint angles includes the joint angle values ​​of each of the robotic arm joints. In some embodiments, when determining the joint angle combination, the first set of joint angles is solved using geometric relationships based on the target position coordinates in the robot arm target pose matrix. Specifically: For the base joint, the rotation angle of the base joint is determined by the arctangent function based on the projection of the target position coordinates onto the horizontal plane, so that the center point of the robotic arm wrist can reach the vertical plane where the target position is located. For the shoulder and elbow joints, after determining the base joint rotation angle, the position of the wrist center point is projected onto a vertical plane to form a planar two-bar structure. Using the cosine theorem, the elbow joint angle is calculated based on the link length and the distance from the wrist center point to the base. The first set of joint angles corresponds to the base joint, shoulder joint, and elbow joint of the robotic arm and is used to determine the spatial position of the wrist center point.

[0037] Based on the target pose angles in the robotic arm's target pose matrix and the first set of joint angles, the second set of joint angles is solved using the pose decoupling relationship. Specifically: After determining the angles of the first three joints, the attitude matrix of the wrist coordinate system relative to the base coordinate system is calculated. The target attitude matrix in the target pose matrix of the robotic arm is compared with the attitude matrix of the wrist coordinate system to obtain the attitude deviation that the wrist joint needs to compensate for.

[0038] Based on the posture deviation, the angles of each joint in the wrist are solved by posture decomposition. The wrist joints include the wrist yaw joint, wrist pitch joint, and wrist rotation joint, corresponding to the fourth, fifth, and sixth joints of the robotic arm.

[0039] By combining the first group of joint angles and the second group of joint angles according to the joint number, a complete combination of joint angles is obtained. Due to the multivalued nature of trigonometric functions and the symmetry of the robotic arm configuration, there are usually multiple combinations of joint angles that satisfy the target pose.

[0040] According to the preset optimization criteria, a target joint angle combination is determined from each of the joint angle combinations, and the target joint angle combination is used as the solution result. In some embodiments, based on motion smoothness criteria, when multiple joint angle combinations exist, the angle change between each joint angle combination and the joint angles of the previous control cycle is calculated. The angle change is the sum of the absolute differences of the corresponding joint angles, or the weighted sum of the squares of the differences of the corresponding joint angles. The joint angle combination with the smallest angle change is selected as the target joint angle combination to optimize the motion smoothness of the robotic arm, avoid joint angle jumps, and reduce impact and vibration during the robotic arm's movement.

[0041] According to the joint limit criterion, check whether each joint angle value in each joint angle combination is within the preset joint motion range. If there is an angle value in a certain joint angle combination that exceeds the joint limit, then remove the joint angle combination and select the optimal solution from the remaining legal joint angle combinations according to the motion smoothness criterion.

[0042] The system applies joint limit criteria for screening and then motion smoothness criteria for optimization. If all joint angle combinations exceed the joint limits, an anomaly handling mechanism is triggered, such as maintaining the joint angles from the previous control cycle or issuing a warning to the operator. The joint angle combinations determined after screening and optimization based on the above criteria are taken as the target joint angle combinations. The target joint angle combinations are the solution results, containing the target joint angle values ​​for each robotic arm joint.

[0043] Based on the calculation results, the movement of each joint of the robotic arm is controlled so that the robotic arm reaches the target spatial position and target spatial posture corresponding to the target pose matrix of the robotic arm.

[0044] Specifically, the joint angle values ​​in the target joint angle combination are converted into target position commands for each robotic arm joint motor. The conversion process includes converting the joint angle values ​​into motor pulse counts or digital quantities according to the motor reduction ratio and encoder resolution. The target position commands are then sent to the robotic arm joint controller via a communication interface, which may include a CAN bus or a serial communication interface.

[0045] The robotic arm joint controller receives the target position command and generates drive signals for each joint motor. These drive signals include pulse frequency, rotation direction, and enable signals, used to control the rotation of servo motors or stepper motors. Each joint motor rotates according to the drive signals, driving the robotic arm linkages through reducers and transmission mechanisms. During this movement, the encoders of each joint provide real-time feedback of the actual joint angle values.

[0046] The robotic arm joint controller compares the actual joint angle values ​​with the target joint angle values, calculates the joint angle deviation, and adjusts the drive signal based on the deviation using a proportional-integral-derivative (PI-DE) control algorithm or an adaptive control algorithm. Once all robotic arm joints reach the target joint angle value—that is, when the robotic arm end effector reaches the target spatial position and orientation corresponding to the robotic arm target pose matrix—the teleoperation control cycle is completed.

[0047] In a specific embodiment, determining the target joint angle combination from each of the joint angle combinations according to a preset optimization criterion includes: If there are at least two of the joint angle combinations, calculate the change in joint angle between each joint angle combination and the joint angle of the previous rocking operation cycle. The joint angle combination with the smallest change in joint angle is determined as the target joint angle combination.

[0048] Specifically, when inverse kinematics calculations yield at least two sets of joint angle combinations, the actual angle data of each joint of the robotic arm in the previous telecontrol cycle is read. The change in joint angle between the current set of joint angle combinations and the joint angles of the previous cycle is calculated to obtain the overall angle change amplitude corresponding to each combination. Under the premise of satisfying the joint movement limit constraints of the robotic arm, the set of joint angle combinations with the smallest change in joint angle is determined as the target joint angle combination. The movement of each joint of the robotic arm is driven by this target joint angle combination, so that the end effector of the robotic arm reaches the target spatial position and target posture corresponding to the target pose matrix, ensuring that the movement of the robotic arm is continuous, stable, and without sudden jitter.

[0049] In a specific embodiment, the movement of each joint of the robotic arm is controlled according to the calculation result, so that the robotic arm reaches the target spatial position and target spatial orientation corresponding to the target pose matrix of the robotic arm, including: Drive signals for each of the robotic arm joints are generated based on the joint angle values. The drive signal controls the movement of each of the robotic arm joints to the target spatial position and the target spatial posture.

[0050] Specifically, after obtaining the target joint angle combination, for robotic arm joints using servo motors, the joint angle values ​​(in radians or degrees) are converted into target position commands recognizable by the motor driver according to the motor reduction ratio, encoder resolution, and transmission ratio of the transmission mechanism. For rotary joints, the number of revolutions or pulses required for the motor shaft to rotate is calculated, i.e., the joint angle value is divided by the motor reduction ratio to obtain the target angle of the motor shaft, and then converted into pulse commands based on the number of pulses per encoder revolution. For linear joints, the joint displacement is converted into motor rotation according to the lead screw or rack and pinion parameters.

[0051] At the same time, based on the kinematic constraints of each joint, the target position command is checked for speed and amplitude limits to ensure that the position change between adjacent control cycles does not exceed the pulse change corresponding to the maximum allowable speed of the motor, thus preventing mechanical structure collision damage.

[0052] The target position command is encapsulated into a data frame, specifically including joint address identifier, position setting value, speed limit value, and verification information. It is transmitted via broadcast or point-to-point method to the joint controllers corresponding to each robotic arm joint. These joint controllers include servo drivers, stepper motor drivers, or integrated joint module controllers. During data transmission, if a joint controller fails to return a response signal within a specified time, a retransmission mechanism or error handling is triggered to prevent control command loss and abnormal robotic arm movement.

[0053] After receiving the target position command, each robotic arm joint controller performs protocol parsing and command verification. Upon successful verification, it generates a drive signal based on the deviation between the target position and the current actual position. The movement of each joint is transmitted through linkage mechanisms, forming a composite motion at the end effector of the robotic arm. The rotation of the base joint changes the horizontal orientation of the robotic arm; the coordinated movement of the shoulder and elbow joints changes the extension height and range of motion; and the rotation of the wrist joint adjusts the attitude angle of the end effector. During the motion, the encoders of each joint detect the actual angular position of the motor shaft or joint output shaft, converting the angular displacement into electrical pulses or digital signals and feeding them back to the joint controller.

[0054] Once all robotic arm joints are determined to be in position, it is confirmed that the end effector has reached the target spatial position and orientation corresponding to the target pose matrix. At this point, the robotic arm maintains its current joint angle and awaits the target pose command for the next control cycle. If any joint fails to reach the target position within the specified time, a timeout handling mechanism is triggered, such as reporting an abnormal position following error, reducing the system operating speed, or pausing teleoperation and prompting the operator to check the robotic arm status.

[0055] In a specific embodiment, this embodiment also includes: In response to the drive signal, the joint angle feedback values ​​of each of the robotic arm joints are collected; Based on the joint angle feedback value and the joint angle deviation between the joint angle values, the drive signal is dynamically adjusted until the robotic arm reaches the target spatial position and the target spatial posture.

[0056] Specifically, the joint angle deviation is the joint angle feedback value minus the joint angle value, reflecting the angle difference between the current joint and the target position. The robotic arm controller responds to the drive signal, controlling the movement of each joint actuator, and collects the joint angle feedback values ​​of each robotic arm joint in real time through the joint encoder. The joint angle feedback values ​​are compared with the target joint angle values ​​in real time to obtain the joint angle deviation. Based on the angle deviation, the drive signal is dynamically adjusted to gradually reduce the angle deviation until the joint angle feedback value matches the target joint angle value, enabling the robotic arm end effector to accurately reach the target spatial position and orientation corresponding to the target pose matrix.

[0057] In a specific embodiment, the inverse kinematics algorithm is q t =IK ( ), q t Let IK be the joint angle value of the robotic arm joint, and IK be the inverse kinematics function. Let be the target pose matrix of the robotic arm.

[0058] In some embodiments, the inverse kinematics algorithm is q t =IK ( The inverse kinematics function IK is a pose-joint angle mapping function constructed based on the DH parameters of the robotic arm. Its core function is to convert the target pose matrix of the robotic arm end effector into an executable combination of joint angles.

[0059] The target pose matrix of the robotic arm, obtained through pose mapping, is used as the input to the inverse kinematics function IK. This matrix contains information about the target's spatial position and orientation. Function IK internally calls a pre-built DH parameter kinematic model and, based on homogeneous matrix transformation and spatial geometric constraints, performs an inverse solution for the target pose. The inverse kinematics calculation is completed using analytical or numerical methods, outputting at least one set of joint angle combinations that satisfy the target pose requirements. The solution results are then output to the control module. If multiple solutions exist, the optimal solution is selected based on the criterion of minimum angle change and used as the joint control command. The optimal joint angle combination is converted into a drive signal and sent to the robotic arm controller to drive the joints to the target pose.

[0060] based on Figure 1 In the illustrated embodiment, step S10 includes: The current pose transformation matrix is ​​determined by the first preset formula based on the current pose matrix of the remotely controlled target and the initial pose matrix of the remotely controlled target. The first preset formula is , Let be the initial pose matrix of the remotely controlled target. Let be the current pose matrix of the remotely controlled target. Let be the current pose transformation matrix.

[0061] Specifically, the remotely controlled target can be a positioning device worn on the operator's hand. At the initial start of remote operation, the positioning device's initial pose information in the base coordinate system is read through its data interface, and this initial pose information is converted into an initial pose matrix. The initial pose matrix is ​​represented by a homogeneous transformation matrix and includes the spatial position information and spatial attitude information of the positioning device relative to the base coordinate system. The spatial position information consists of three position coordinate components, corresponding to the coordinate values ​​of the positioning device on the x-axis, y-axis, and z-axis of the base coordinate system, respectively. The spatial attitude information consists of an attitude rotation component, described by a rotation matrix form, indicating the rotation relationship of the positioning device's coordinate system relative to the base coordinate system.

[0062] In some embodiments, the initial pose matrix is ​​a square matrix with four rows and four columns. The three rows and three columns of its upper left submatrix is ​​the attitude rotation matrix, which describes the attitude angle of the positioning device. The first three rows of the fourth column are position coordinate vectors, which describe the spatial position of the positioning device. The fourth row is a unit row vector.

[0063] After remote operation is initiated, the real-time pose data output by the positioning device is continuously read at a preset acquisition frequency. The preset acquisition frequency is determined based on the data output rate of the positioning device and the control cycle of the robotic arm. For example, it can be set to fifty to one hundred times per second.

[0064] Each time the current pose data is acquired, it is also converted into a homogeneous transformation matrix to obtain the current pose matrix of the telescopic target. The current pose matrix of the telescopic target also contains position coordinate components and attitude rotation components, describing the spatial pose of the positioning device relative to the base coordinate system at the current moment.

[0065] In this embodiment, in order to perform the matrix multiplication operation in the first preset formula, the initial pose matrix of the remotely controlled target is first inverted to obtain its inverse matrix, which is the initial pose inverse matrix.

[0066] Specifically, for the homogeneous transformation matrix, the top three rows and three columns of the initial pose inverse matrix are the transpose of the original pose rotation matrix, the first three rows of the fourth column are the negative vectors of the original position coordinate vectors after the pose rotation matrix transpose, and the fourth row remains a unit row vector.

[0067] In this embodiment, the initial pose inverse matrix is ​​multiplied by the real-time acquired current pose matrix of the telescopic target to obtain the current pose transformation matrix. Specifically, each element of the current pose transformation matrix is ​​the sum of the products of the corresponding row elements of the initial pose inverse matrix of the telescopic target and the corresponding column elements of the current pose matrix of the telescopic target.

[0068] In this embodiment, after the above matrix inversion and matrix multiplication operations, the current pose transformation matrix is ​​the output result of the first preset formula.

[0069] Specifically, the first three rows of the fourth column of the current pose transformation matrix represent the relative translation vector of the positioning device from the initial position to the current position, described in the initial coordinate system of the positioning device. The three rows and three columns of the sub-matrix in the upper left corner represent the relative rotation matrix of the positioning device from the initial pose to the current pose, also described in the initial coordinate system of the positioning device.

[0070] The pose increment is superimposed onto the input of the robot arm's initial pose based on the current pose transformation matrix. Since the current pose transformation matrix only contains relative motion information and does not depend on the absolute position of the positioning device in the base coordinate system, even if the robot arm and the positioning device are in completely different spatial poses at the initial moment, the correct motion mapping can be achieved through subsequent superposition calculations.

[0071] based on Figure 1 In the illustrated embodiment, step S20 includes: The target pose matrix of the robotic arm is determined by the second preset formula based on the current pose transformation matrix and the initial pose matrix of the robotic arm. The second preset formula is = , Let be the initial pose matrix of the robotic arm. The current pose transformation matrix is... Let be the target pose matrix of the robotic arm.

[0072] Specifically, the initial pose matrix of the robotic arm is obtained through the robotic arm's own state perception system at the initial start of the remote operation. After the remote operation start command is triggered, the current encoder feedback value of each joint motor of the robotic arm is read. The encoder feedback value reflects the actual angular position of each joint of the robotic arm at the start time.

[0073] The encoder feedback values ​​are combined with pre-stored DH parameters of the robotic arm, and the spatial pose of the robotic arm end effector in the robotic arm base coordinate system is calculated using forward kinematics. The DH parameters include the link length, link twist angle, joint distance, and joint rotation angle of each robotic arm joint. The calculated spatial pose is converted into a homogeneous transformation matrix to obtain the initial pose matrix of the robotic arm. The initial pose matrix of the robotic arm is also represented by a 4x4 matrix. Its upper left 3x3 submatrix is ​​the attitude rotation matrix, describing the rotation relationship between the coordinate system of the robotic arm end effector and the coordinate system of the robotic arm base. The first three rows of the fourth column are position coordinate vectors, describing the spatial position of the robotic arm end effector in the coordinate system of the robotic arm base. The fourth row is a unit row vector.

[0074] Unlike the initial pose matrix of a remotely controlled target, the initial pose matrix of a robotic arm describes the pose relationship of the robotic arm's end effector relative to its own base, rather than the pose relationship relative to the global base coordinate system.

[0075] The initial pose matrix of the robotic arm can be any spatial pose. Regardless of the robotic arm's initial pose at startup, such as the zero point position, any position in the workspace, or stopping in an unexpected pose due to an accidental collision, the current pose is directly used as the initial reference, without the need to return the robotic arm to a specific alignment position or perform pose matching with the remotely controlled target.

[0076] In this embodiment, the current pose transformation matrix is ​​calculated by the first preset formula, which represents the relative motion increment of the remotely controlled target from the initial time to the current time. The current pose transformation matrix is ​​in the form of a homogeneous transformation matrix. Its physical meaning is that if the local coordinate system of the positioning device at the initial time is taken as a reference, the current pose transformation matrix describes the position translation and attitude rotation relationship of the current coordinate system of the positioning device relative to the reference coordinate system.

[0077] In this embodiment, the initial pose matrix of the robotic arm is multiplied by the current pose transformation matrix to obtain the target pose matrix of the robotic arm. Specifically, each element of the target pose matrix of the robotic arm is the sum of the products of the corresponding row elements of the initial pose matrix and the corresponding column elements of the current pose transformation matrix.

[0078] The initial pose matrix of the robotic arm describes the initial spatial pose of the robotic arm's end effector in the robotic arm's base coordinate system, while the current pose transformation matrix represents the relative motion increment of the telemanipulated target relative to its initial state. Multiplying the two transforms the relative motion increment of the telemanipulated target into the robotic arm's base coordinate system and adds it to the initial pose of the robotic arm, thus obtaining the target spatial pose that the robotic arm's end effector should reach.

[0079] After matrix multiplication, the resulting target pose matrix of the robotic arm is the output of the second preset formula. The target pose matrix is ​​then analyzed to extract the target spatial position and orientation information. The target spatial position consists of the first three rows of the fourth column of the target pose matrix, forming a three-dimensional position coordinate vector that represents the target position coordinates that the robotic arm's end effector should reach in the robotic arm's base coordinate system.

[0080] The target spatial attitude is composed of a three-row, three-column submatrix in the upper left corner of the robot arm target pose matrix. It is a three-dimensional rotation matrix that describes the target attitude angle that the robot arm end effector should achieve in the robot arm base coordinate system.

[0081] In this embodiment, the target pose matrix of the robotic arm, after being parsed, is solved using an inverse kinematics algorithm to obtain the joint angle values ​​required for the end effector of the robotic arm to reach the target pose.

[0082] like Figure 2 As shown, Figure 2 This is a schematic diagram of pose conversion for a robotic arm teleoperation control method provided in an embodiment of this application.

[0083] Figure 2 The upper part is a schematic diagram of the remotely controlled target's base coordinate system. This represents the initial pose matrix of the remotely controlled target in the base coordinate system at the initial moment. This represents the current pose matrix of the remotely manipulated target in the base coordinate system at the current moment. Let be the current pose transformation matrix, describing the relative motion of the hand with respect to its initial state. Figure 2 The lower part is a schematic diagram of the coordinate system of the robotic arm base. Let be the initial pose matrix of the robotic arm in the coordinate system of the robotic arm base at the initial moment. This is the current pose transformation matrix. This is the target pose matrix of the robotic arm, that is, the target pose matrix that the end effector of the robotic arm should reach.

[0084] Please see Figure 3 , Figure 3 This application provides a schematic block diagram of a robotic arm teleoperation control system, which is used to execute the aforementioned robotic arm teleoperation control method. The robotic arm teleoperation control device can be configured on a server.

[0085] like Figure 3 As shown, the remote operation control system for the robotic arm includes: A robotic arm, including at least one robotic arm joint, for performing teleoperated movements; A remotely controlled target, positioned on the user's hand, is used to output the pose matrix of the remotely controlled target; The pose acquisition module is connected to the robotic arm and the remotely operated target respectively, and is used to acquire the pose matrix of the robotic arm and the remotely operated target; The pose calculation module is used to calculate the pose transformation matrix of the remotely controlled target and map the pose transformation matrix to the robotic arm to obtain the target pose matrix of the robotic arm. The inverse kinematics solution module is used to determine the joint angle combination based on the DH parameters of the robotic arm, the inverse kinematics algorithm, and the target pose matrix of the robotic arm. A robotic arm joint controller is used to determine a target joint angle control amount based on the joint angle combination, and generate a drive signal based on the target joint angle control amount to drive the movement of each joint of the robotic arm, so that the robotic arm reaches the target position and target posture corresponding to the target pose matrix of the robotic arm.

[0086] In some embodiments, the robotic arm includes at least one robotic arm joint for performing teleoperated movements under the control of a drive signal. A teleoperated target, configured on the user's hand, is used to output its own pose matrix in real time. A pose acquisition module is connected to the controller of the robotic arm and the signal output terminal of the teleoperated target, respectively. At the moment of initiation of teleoperation, the pose acquisition module simultaneously acquires and records the initial pose matrix of the robotic arm and the initial pose matrix of the teleoperated target. During operation, the module continuously acquires the current pose matrix of the teleoperated target at a preset frequency.

[0087] The pose calculation module is connected to the pose acquisition module. Its workflow consists of two steps: First, based on a first preset formula... Calculate the pose transformation matrix (i.e., relative motion increment) of the remotely controlled target since the initial moment. According to the second preset formula = , pose transformation matrix Mapping this onto the robotic arm yields the target pose matrix for the robotic arm in the current cycle. .

[0088] The inverse kinematics (IK) module, connected to the pose calculation module, internally stores the DH parameters of the robotic arm. This module receives the target pose matrix. Then, the inverse kinematics (IK) algorithm is invoked to solve the problem based on the robotic arm model (defined by DH parameters) to determine the end effector that can achieve the desired result. One or more joint angle combinations.

[0089] The robotic arm joint controller, connected to the inverse kinematics solving module, determines the joint angle combination and identifies it as the final target joint angle control value. Based on the deviation between the target joint angle control value and the real-time angles of each joint, the robotic arm joint controller generates drive signals using a servo control algorithm and sends these signals to the motor drivers of each joint to drive the coordinated movement of the robotic arm's joints, ultimately enabling the robotic arm's end effector to accurately reach the target pose matrix. The corresponding target position and target attitude.

[0090] Furthermore, the remotely controlled target includes a visual inertial odometry (VIO) module, a laser positioning receiver, a lidar sensor, and / or a positioning tag sensor.

[0091] Furthermore, the inverse kinematics solution module includes a solution optimization unit; The optimization unit is used to determine the target joint angle control amount from each of the joint angle combinations when at least two joint angle combinations exist.

[0092] In some embodiments, when targeting the same target pose matrix When the inverse kinematics algorithm finds at least two feasible joint angle combinations, the solution optimization unit is activated. Based on the preset optimization criteria, it selects the optimal one from each joint angle combination and determines it as the target joint angle control quantity to be sent to the robotic arm joint controller.

[0093] In other embodiments, this embodiment may also apply the "minimum joint motion" criterion. Specifically, the solution optimization unit calculates the change between each candidate joint angle combination and the actual joint angle of the robotic arm in the previous control cycle, and selects the candidate joint angle combination with the smallest change as the final solution. This criterion ensures that the robotic arm's motion trajectory is the smoothest and most continuous, avoids severe joint vibration, and reduces energy consumption.

[0094] Furthermore, robotic arms include single-arm robotic arms, dual-arm robotic arms, or humanoid robotic arms.

[0095] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the above-described apparatus and modules can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0096] The aforementioned apparatus can be implemented as a computer program, which can be used in, for example... Figure 4 It runs on the computer device shown.

[0097] Please see Figure 4 , Figure 4 This is a schematic block diagram illustrating the structure of a computer device according to an embodiment of this application. The computer device may be a server.

[0098] See Figure 4 The computer device includes a processor, memory, and network interface connected via a system bus, wherein the memory may include non-volatile storage media and internal memory.

[0099] Non-volatile storage media can store operating systems and computer programs. These computer programs include program instructions that, when executed, cause the processor to perform any type of teleoperation control method for the robotic arm.

[0100] The processor provides computing and control capabilities, supporting the operation of the entire computer device.

[0101] Internal memory provides an environment for the execution of computer programs stored in non-volatile storage media. When these computer programs are executed by a processor, the processor can perform any type of teleoperation control method for the robotic arm.

[0102] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0103] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0104] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps: The current pose matrix of the remotely controlled target is acquired according to a preset acquisition frequency. The current pose transformation matrix is ​​determined based on the current pose matrix and the initial pose matrix of the remotely controlled target. The initial pose matrix of the remotely controlled target is obtained when the remote operation is initially started. The target pose matrix of the robotic arm is determined based on the current pose transformation matrix and the initial pose matrix of the robotic arm. The initial pose matrix of the robotic arm is obtained during the initial start of teleoperation. The target pose matrix of the robotic arm is calculated based on the robotic arm model and inverse kinematics algorithm, and the movement of the robotic arm is controlled based on the calculation results.

[0105] In one embodiment, the target pose matrix of the robotic arm is calculated based on a robotic arm model and an inverse kinematics algorithm, and the movement of the robotic arm is controlled based on the calculation results, to achieve: Obtain the DH parameters of the robotic arm, and establish the robotic arm model based on the DH parameters. The robotic arm model is used to characterize the mapping relationship between the joint angles of each joint of the robotic arm and the end-effector spatial pose of the robotic arm. The inverse kinematics algorithm determines at least one combination of joint angles based on the target pose matrix of the robotic arm and the robotic arm model. The combination of joint angles includes the joint angle values ​​of each of the robotic arm joints. According to the preset optimization criteria, a target joint angle combination is determined from each of the joint angle combinations, and the target joint angle combination is used as the solution result. Based on the calculation results, the movement of each joint of the robotic arm is controlled so that the robotic arm reaches the target spatial position and target spatial posture corresponding to the target pose matrix of the robotic arm.

[0106] In one embodiment, a target joint angle combination is determined from each of the said joint angle combinations according to a preset optimization criterion, for the purpose of: If there are at least two of the joint angle combinations, calculate the change in joint angle between each joint angle combination and the joint angle of the previous rocking operation cycle. The joint angle combination with the smallest change in joint angle is determined as the target joint angle combination.

[0107] In one embodiment, the movement of each joint of the robotic arm is controlled according to the calculation result, so that the robotic arm reaches the target spatial position and target spatial orientation corresponding to the target pose matrix of the robotic arm, for the purpose of: Drive signals for each of the robotic arm joints are generated based on the joint angle values. The drive signal controls the movement of each of the robotic arm joints to the target spatial position and the target spatial posture.

[0108] In one embodiment, the method is also used to implement: In response to the drive signal, the joint angle feedback values ​​of each of the robotic arm joints are collected; Based on the joint angle feedback value and the joint angle deviation between the joint angle values, the drive signal is dynamically adjusted until the robotic arm reaches the target spatial position and the target spatial posture.

[0109] In one embodiment, a current pose transformation matrix is ​​determined based on the current pose matrix and the initial pose matrix of the telescopic target, for the purpose of: The current pose transformation matrix is ​​determined by the first preset formula based on the current pose matrix of the remotely controlled target and the initial pose matrix of the remotely controlled target. The first preset formula is , Let be the initial pose matrix of the remotely controlled target. Let be the current pose matrix of the remotely controlled target. Let be the current pose transformation matrix.

[0110] In one embodiment, the target pose matrix of the robotic arm is determined based on the current pose transformation matrix and the initial pose matrix of the robotic arm, for the purpose of: The target pose matrix of the robotic arm is determined by the second preset formula based on the current pose transformation matrix and the initial pose matrix of the robotic arm. The second preset formula is = , Let be the initial pose matrix of the robotic arm. The current pose transformation matrix is... Let be the target pose matrix of the robotic arm.

[0111] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement any of the robotic arm teleoperation control methods provided in the embodiments of this application.

[0112] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.

[0113] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for remote operation control of a robotic arm, characterized in that, include: The current pose matrix of the remotely controlled target is acquired according to a preset acquisition frequency. The current pose transformation matrix is ​​determined based on the current pose matrix and the initial pose matrix of the remotely controlled target. The initial pose matrix of the remotely controlled target is obtained when the remote operation is initially started. The target pose matrix of the robotic arm is determined based on the current pose transformation matrix and the initial pose matrix of the robotic arm. The initial pose matrix of the robotic arm is obtained during the initial start of teleoperation. The target pose matrix of the robotic arm is calculated based on the robotic arm model and inverse kinematics algorithm, and the movement of the robotic arm is controlled based on the calculation results.

2. The robotic arm teleoperation control method according to claim 1, characterized in that, The step of solving the target pose matrix of the robotic arm based on the robotic arm model and inverse kinematics algorithm, and controlling the movement of the robotic arm based on the solution result, includes: Obtain the DH parameters of the robotic arm, and establish the robotic arm model based on the DH parameters. The robotic arm model is used to characterize the mapping relationship between the joint angles of each joint of the robotic arm and the end-effector spatial pose of the robotic arm. The inverse kinematics algorithm determines at least one combination of joint angles based on the target pose matrix of the robotic arm and the robotic arm model. The combination of joint angles includes the joint angle values ​​of each of the robotic arm joints. According to the preset optimization criteria, a target joint angle combination is determined from each of the joint angle combinations, and the target joint angle combination is used as the solution result. Based on the calculation results, the movement of each joint of the robotic arm is controlled so that the robotic arm reaches the target spatial position and target spatial posture corresponding to the target pose matrix of the robotic arm.

3. The robotic arm teleoperation control method according to claim 2, characterized in that, The step of determining the target joint angle combination from each of the joint angle combinations according to the preset optimization criteria includes: If there are at least two of the joint angle combinations, calculate the change in joint angle between each joint angle combination and the joint angle of the previous rocking operation cycle. The joint angle combination with the smallest change in joint angle is determined as the target joint angle combination.

4. The remote operation control method for a robotic arm according to claim 2, characterized in that, The step of controlling the movement of each joint of the robotic arm according to the calculation result, so that the robotic arm reaches the target spatial position and target spatial orientation corresponding to the target pose matrix of the robotic arm, includes: Drive signals for each of the robotic arm joints are generated based on the joint angle values. The drive signal controls the movement of each of the robotic arm joints to the target spatial position and the target spatial posture.

5. The robotic arm teleoperation control method according to claim 4, characterized in that, The method further includes: In response to the drive signal, the joint angle feedback values ​​of each of the robotic arm joints are collected; Based on the joint angle feedback value and the joint angle deviation between the joint angle values, the drive signal is dynamically adjusted until the robotic arm reaches the target spatial position and the target spatial posture.

6. The remote operation control method for a robotic arm according to claim 2, characterized in that, The inverse kinematics algorithm is q t =IK ( ), q t Let IK be the joint angle value of the robotic arm joint, and IK be the inverse kinematic function. Let be the target pose matrix of the robotic arm.

7. The remote operation control method for a robotic arm according to claim 1, characterized in that, The step of determining the current pose transformation matrix based on the current pose matrix of the teleoperated target and the initial pose matrix of the teleoperated target includes: The current pose transformation matrix is ​​determined by the first preset formula based on the current pose matrix of the remotely controlled target and the initial pose matrix of the remotely controlled target. The first preset formula is , Let be the initial pose matrix of the remotely controlled target. Let be the current pose matrix of the remotely controlled target. Let be the current pose transformation matrix.

8. The remote operation control method for a robotic arm according to claim 1, characterized in that, Determining the target pose matrix of the robotic arm based on the current pose transformation matrix and the initial pose matrix of the robotic arm includes: The target pose matrix of the robotic arm is determined by the second preset formula based on the current pose transformation matrix and the initial pose matrix of the robotic arm. The second preset formula is = , Let be the initial pose matrix of the robotic arm. The current pose transformation matrix is... Let be the target pose matrix of the robotic arm.

9. A remote operation control system for a robotic arm, characterized in that, include: A robotic arm, including at least one robotic arm joint, for performing teleoperated movements; A remotely controlled target, positioned on the user's hand, is used to output the pose matrix of the remotely controlled target; The pose acquisition module is connected to the robotic arm and the remotely operated target respectively, and is used to acquire the pose matrix of the robotic arm and the remotely operated target; The pose calculation module is used to calculate the pose transformation matrix of the remotely controlled target and map the pose transformation matrix to the robotic arm to obtain the target pose matrix of the robotic arm. The inverse kinematics solution module is used to determine the joint angle combination based on the DH parameters of the robotic arm, the inverse kinematics algorithm, and the target pose matrix of the robotic arm. A robotic arm joint controller is used to determine a target joint angle control amount based on the joint angle combination, and generate a drive signal based on the target joint angle control amount to drive the movement of each joint of the robotic arm, so that the robotic arm reaches the target position and target posture corresponding to the target pose matrix of the robotic arm.

10. The robotic arm teleoperation control system according to claim 9, characterized in that, The remotely controlled target includes a visual inertial odometry (VIO) module, a laser positioning receiver, a lidar, and / or a positioning tag sensor.

11. The robotic arm teleoperation control system according to claim 9, characterized in that, The inverse kinematics solving module includes a solution optimization unit; The optimization unit is used to determine the target joint angle control amount from each of the joint angle combinations when at least two joint angle combinations exist.

12. The robotic arm teleoperation control system according to claim 9, characterized in that, The robotic arm includes a single-arm robotic arm, a dual-arm robotic arm, or a humanoid robot robotic arm.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the teleoperation control method for the robotic arm as described in any one of claims 1 to 8.

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