A flexible motion mapping method and system for heterogeneous robots

Abstract

The present application relates to the technical field of heterogeneous robot teleoperation, and particularly relates to a flexible motion mapping method and system for heterogeneous robots, wherein the method comprises the following steps: collecting joint motion data of a master end follow-up teach box; extracting core task components corresponding to a task space of a slave end executor, identifying and separating redundant action components; converting at least one motion signal in the redundant action components into a driving instruction of the slave end executor according to a flexible mapping rule; performing safety constraint processing on the driving instruction, receiving the processed instruction by the slave end executor and executing the same; obtaining physical motion parameters of the slave end executor, generating a virtual pose feedback signal conforming to a master end communication protocol by using a reverse reconstruction algorithm, and returning the same to the master end follow-up teach box. The present application can eliminate control stiffness and logic deadlock in heterogeneous teleoperation, avoid mechanical impact caused by instruction mutation, ensure that operation polarity and visual motion are highly consistent, and improve operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of teleoperation technology for heterogeneous robots, specifically to a flexible motion mapping method and system for heterogeneous robots. Background Technology

[0002] Robot teleoperation technology, as a core means to achieve remote precision operation and human-robot collaborative teaching, has broad application prospects in fields such as industrial assembly, laboratory automation, and hazardous environment handling. Its core mechanism involves capturing and converting the operator's motion intentions or pose signals in real time to drive the slave robot to synchronously execute tasks. To ensure intuitive and efficient operation, the system must establish a precise motion mapping model from the master teaching space to the slave work space.

[0003] In heterogeneous teleoperation scenarios where the master teach pendant has more degrees of freedom than the slave actuator, existing mainstream technical solutions mainly fall into the following two categories:

[0004] One approach is rigid dimension reduction based on pose calculation. These solutions often rely on a rigid mapping logic where the degrees of freedom (DOFs) of the master and slave ends are "one-to-one." When faced with a mismatch in DDFs, dimensionality reduction is typically achieved through "dimensionality elimination" or "static scaling." The specific implementation involves the system acquiring joint electrical signals from the master teach pendant in real time. After coordinate transformation or inverse kinematics calculation, only the signal components matching the slave DDFs are extracted, while redundant operational information from the master end is discarded or zeroed out. For example, when driving a SCARA robotic arm with a horizontal rotary joint and a vertical lifting axis, existing methods often only select signals from specific dimensions of the master end for linear scaling, neglecting the compensation effect of redundant dimensions.

[0005] Second, there is the fixed-gain cross-modal static mapping technology. For scenarios involving cross-modal conversion (such as mapping rotational motion intention to linear displacement), existing technologies mostly use a preset scaling factor for open-loop numerical conversion. Specifically, the rotational radian value of the master teach pendant handle is linearly converted into the physical travel value of the slave actuator through a fixed scaling coefficient. Because this type of mapping logic has static and rigid characteristics, the system often lacks a flexible buffer mechanism for the physical travel boundary and it is difficult to dynamically correct the control polarity according to the operator's visual feedback and operating habits, resulting in a disconnect between the master and slave actions in terms of sensory logic.

[0006] In summary, the limitation of existing technologies lies in the loss of a large amount of effective redundant operational information at the master end. Due to the lack of a flexible adaptation mechanism for redundant degrees of freedom, the system is highly susceptible to problems such as control rigidity, logic deadlock, command jumps, and mechanical collisions when encountering master-slave motion boundaries, motion singularities, or performing cross-dimensional transformations. Furthermore, in the closed-loop feedback stage, existing technologies struggle to reconstruct the low-dimensional physical parameters of the slave end into high-dimensional pose feedback conforming to the master end's protocol in real time and smoothly. This results in distortion of the synchronization of the master and slave ends' motion states in heterogeneous spaces, severely restricting the operational accuracy and follow-up experience of teleoperation in complex environments.

[0007] Therefore, there is an urgent need for a teleoperation control technology for heterogeneous robots that can effectively utilize redundant degrees of freedom, achieve cross-dimensional flexible mapping, and ensure synchronization of master and slave motion states. Summary of the Invention

[0008] To address the problems of control rigidity, logic deadlock, instruction jumps, and state synchronization distortion caused by degree-of-freedom mismatch in existing technologies, this invention provides a flexible motion mapping method and system for heterogeneous robots.

[0009] In a first aspect, the present invention provides a flexible motion mapping method for heterogeneous robots, specifically including the following steps: Collect joint motion data from the master-side follow-up teaching pendant; Based on the joint motion data, the core task components corresponding to the task space of the slave actuator are extracted, and redundant motion components are identified and separated. At least one motion signal from the redundant motion components is converted into a drive command for the slave actuator according to a flexible mapping rule. The drive instructions are subjected to safety constraints, and the slave actuator receives and executes the processed instructions. The physical motion parameters of the slave actuator are obtained, and a virtual pose feedback signal conforming to the master communication protocol is generated based on the physical motion parameters using a reverse reconstruction algorithm. The virtual pose feedback signal is then transmitted back to the master servo teach pendant to form a remote operation closed loop.

[0010] Furthermore, the number of motion degrees of freedom of the master-end teach pendant is greater than the number of motion degrees of freedom of the slave-end actuator.

[0011] Furthermore, the slave actuator has at least one linear motion degree of freedom.

[0012] Furthermore, the flexible mapping rule includes radian and linear displacement flexible conversion logic, used to convert the rotational motion signal in the redundant motion components into the linear displacement command of the slave actuator.

[0013] Furthermore, the formula for the linear mapping mathematical model used in the flexible conversion logic of radians and linear displacement is as follows:

[0014] in, This represents the linear displacement command of the slave actuator within the physical travel interval [Lmin, Lmax] after mapping. This represents the real-time signal of the preset joint in the master-end follow-up teach pendant within the interval [θmin, θmax].

[0015] Furthermore, the radian and linear displacement flexible conversion logic also includes polarity alignment: when the rotational motion signal increases, the linear motion degree of freedom of the slave actuator is driven to perform positive linear motion, so that the rotational intention of the master end is consistent with the physical logic of the linear action of the slave end.

[0016] Furthermore, in the process of identifying and separating redundant motion components, a follow-up compensation mechanism is established based on the difference in degrees of freedom between the master follow-up teaching pendant and the slave actuator. The redundant motion components are used to generate zero-space motion to absorb the non-instructional posture deflection of the operator's hand.

[0017] Furthermore, the safety constraint processing includes: performing numerical saturation limit processing on the generated drive commands, buffering and truncating commands that exceed the safe travel range through a software constraint algorithm, and using redundant degrees of freedom to smooth the motion trajectory.

[0018] Furthermore, in the reverse reconstruction algorithm, a unit quaternion is used for the end-effector rotational attitude of the slave actuator. The reconstruction is performed using the following formula:

[0019] in, This represents the real-time radian component of the rotating shaft at the end of the actuator.

[0020] Secondly, the present invention provides a flexible motion mapping system for heterogeneous robots, including a master-end follower teach pendant, a slave-end actuator, and a heterogeneous adaptation central control unit. The master-end follow-up teaching pendant is used to collect the operator's joint movement data; The slave executor is used to execute drive instructions; The heterogeneous adaptation central control unit is communicatively connected to the master-end follow-up teach pendant and the slave-end actuator; The heterogeneous adaptation central control unit includes: a motion intent extraction and redundant component identification module, used to extract core task components from the joint motion data and identify and separate redundant motion components; a flexible adaptation module, used to convert motion signals in the redundant motion components into drive commands for the slave actuator; a safety constraint module, used to perform safety constraint processing on the drive commands; and a reverse reconstruction module, used to generate virtual pose feedback signals based on the physical motion parameters of the slave actuator.

[0021] Compared with the prior art, the present invention has the following beneficial effects: The technical solution proposed in this invention establishes a general heterogeneous mapping framework with flexible adaptability, transforming redundant degrees of freedom into a source of motion compliance compensation. This effectively avoids control rigidity and logic deadlock caused by the loss of key operational information in traditional dimensional forced elimination schemes. Under this mechanism, the system can automatically absorb subtle hand tremors and non-mandatory posture deflections, ensuring that even in the event of degree-of-freedom mismatch, the master-slave motion maintains extremely high continuity and compliance during spatial transformations.

[0022] The method described in this invention demonstrates significant performance improvements in the precision assembly and servo control experiments of SCARA robotic arms. Experimental data and feature analysis show that, compared to the widely adopted mobile-wait ground-based teleoperation mode, this invention can improve manipulation efficiency by approximately 30% and significantly reduce the operator's decision-making burden. In cross-modal mapping tests (such as converting rotational intent into vertical displacement), through polarity correction and linear scaling, the operator's visual perception and physical manipulation achieve a high degree of consistency, eliminating control conflicts common in heterogeneous mapping and significantly improving operational accuracy.

[0023] This invention utilizes a reverse reconstruction algorithm to achieve real-time, smooth feedback of high-dimensional pose, enabling operators to perceive millimeter-level motion synchronization effects. This invention not only achieves precise control of industrial-grade actuators using a low-cost teach pendant, reducing system construction costs, but also possesses strong versatility, applicable to various complex scenarios such as precision electronic assembly, remote medical assistance, and flexible inspection in unstructured environments. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of a flexible motion mapping method for heterogeneous robots according to the present invention.

[0026] Figure 2 This is a logic diagram of the flexible motion mapping method in an embodiment of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] This invention provides the following technical solutions: like Figure 1 As shown, this invention discloses a flexible motion mapping method for heterogeneous robots, which mainly includes the following steps: S1. Collect joint motion data of the master-side follow-up teaching pendant.

[0030] In a preferred embodiment of this application, the number of motion degrees of freedom of the master-end teach pendant is greater than the number of motion degrees of freedom of the slave-end actuator.

[0031] In a preferred embodiment of this application, the slave actuator has at least one linear motion degree of freedom.

[0032] S2. Based on the joint motion data, extract the core task components corresponding to the task space of the slave actuator, and identify and separate redundant motion components.

[0033] In a preferred embodiment of this application, during the process of identifying and separating redundant motion components, a follow-up compensation mechanism is established based on the difference in degrees of freedom between the master follow-up teaching pendant and the slave actuator. The redundant motion components are used to generate zero-space motion to absorb the non-instructional posture deflection of the operator's hand.

[0034] S3. Convert at least one motion signal from the redundant motion components into a drive command for the slave actuator according to a flexible mapping rule.

[0035] In a preferred embodiment of this application, the flexible mapping rule includes radian and linear displacement flexible conversion logic, used to convert the rotational motion signal in the redundant motion components into the linear displacement command of the slave actuator.

[0036] The formula for the linear mapping mathematical model used in the flexible conversion logic of radians and linear displacement is as follows:

[0037] in, This represents the linear displacement command of the slave actuator within the physical travel interval [Lmin, Lmax] after mapping. This represents the real-time signal of the preset joint in the master-end follow-up teach pendant within the interval [θmin, θmax].

[0038] As a preferred embodiment of this application, the radian and linear displacement flexible conversion logic further includes polarity alignment: when the rotational motion signal increases, the linear motion degree of freedom of the slave actuator is driven to perform positive linear motion, so that the rotational intention of the master end is consistent with the physical logic of the linear action of the slave end.

[0039] S4. Perform safety constraint processing on the drive command, and the slave actuator receives and executes the processed command.

[0040] In a preferred embodiment of this application, the safety constraint processing includes: performing numerical saturation limit processing on the generated drive commands, buffering and truncating commands that exceed the safe travel range through a software constraint algorithm, and using redundant degrees of freedom to smooth the motion trajectory.

[0041] S5. Obtain the physical motion parameters of the slave actuator, use the reverse reconstruction algorithm to generate a virtual pose feedback signal that conforms to the master communication protocol based on the physical motion parameters, and send the virtual pose feedback signal back to the master follow-up teaching pendant to form a remote operation closed loop.

[0042] In a preferred embodiment of this application, the reverse reconstruction algorithm uses a unit quaternion for the end-effector rotational attitude of the slave actuator. The reconstruction is performed using the following formula:

[0043] in, This represents the real-time radian component of the rotating shaft at the end of the actuator.

[0044] This invention discloses a flexible motion mapping system for heterogeneous robots, including a master-end servo teach pendant, a slave-end actuator, and a heterogeneous adaptation central control unit; The master-end follow-up teaching pendant is used to collect the operator's joint movement data; The slave executor is used to execute drive instructions; The heterogeneous adaptation central control unit is communicatively connected to the master-end follow-up teach pendant and the slave-end actuator; The heterogeneous adaptation central control unit includes: a motion intent extraction and redundant component identification module, used to extract core task components from the joint motion data and identify and separate redundant motion components; a flexible adaptation module, used to convert motion signals in the redundant motion components into drive commands for the slave actuator; a safety constraint module, used to perform safety constraint processing on the drive commands; and a reverse reconstruction module, used to generate virtual pose feedback signals based on the physical motion parameters of the slave actuator.

[0045] Example like Figure 2 As shown, this embodiment uses the precision assembly teleoperation of a SCARA robotic arm as an application scenario. The system includes: a high-dimensional master-end teach pendant (6-DOF rotational degrees of freedom), a low-dimensional slave actuator (4-DOF SCARA robotic arm, including three horizontal rotary joints and one vertical lifting axis), and a heterogeneous adaptive central control unit. The number of degrees of freedom of the master-end teach pendant (6) is greater than the number of degrees of freedom of the slave actuator (4).

[0046] S1. Collect joint motion data When the operator manipulates the master-end follow-up teach pendant, the central control unit collects the 6-dimensional joint curvature data of the master-end follow-up teach pendant in real time.

[0047] S2. Extract core task components, identify and separate redundant action components. The central control unit decouples the 6-dimensional input from the main end through a preset Jacobian matrix, extracts the core task components corresponding to the task space of the SCARA robotic arm, including three rotation angles in the horizontal plane and one linear displacement in the vertical direction, and identifies and separates the remaining two redundant rotation motion components.

[0048] During the recognition process, the system establishes a follow-up compensation mechanism based on the difference in degrees of freedom between the master and slave ends, i.e., 6-4=2. It uses redundant motion components to generate zero-space motion and absorbs the operator's subtle hand tremors and non-instructional posture deflections.

[0049] S3, Flexible mapping is converted into driving instructions. For the vertical lifting axis of the SCARA robotic arm, the system employs a flexible radian-to-linear displacement conversion logic to convert the rotational motion signal of the master end's pitch joint into a linear displacement command for the lifting axis. The mapping formula is as follows:

[0050] in, This represents the linear displacement command of the slave actuator within the physical travel interval [Lmin, Lmax] after mapping. This represents the real-time signal of the preset joint in the master-end follow-up teach pendant within the interval [θmin, θmax].

[0051] At the same time, the system performs polarity alignment when Increased when the operator raises their hand upwards. Increase the size of the SCARA's lifting axis to move upwards, ensuring that the pitch intention of the master end is consistent with the physical logic of the lifting action of the slave end.

[0052] S4. Safety Constraint Processing and Command Issuance The linear displacement command generated by the mapping is subjected to numerical saturation limiting. Less than Then take ,like Greater than Then take This ensures that commands remain within a safe travel range. For commands exceeding the boundaries, a software constraint algorithm is used for buffering and truncation, and redundant degrees of freedom are used to smooth the motion trajectory. The processed drive commands are then sent to the servo drives of the SCARA robotic arm.

[0053] S5, Reverse Reconstruction and Closed-Loop Feedback After the SCARA robotic arm executes a command, the central control unit acquires its 4D physical motion parameters (three horizontal joint angles and one lifting axis position). For the end effector rotation posture, unit quaternions are used. The reverse reconstruction is performed using the following formula:

[0054] in, This represents the real-time radian component of the rotating shaft at the end of the actuator.

[0055] The reconstructed 6D virtual pose feedback signal is transmitted back to the master servo teach pendant, forming a complete teleoperation closed loop.

[0056] Using the method of this embodiment, in the precision assembly experiment of the SCARA robotic arm, the manipulation efficiency is improved by about 30% compared with the traditional moving-waiting teleoperation mode. The operator's visual perception and physical manipulation are highly consistent, the flexible boundary protection mechanism effectively avoids the risk of mechanical impact, and the millimeter-level motion synchronization effect is achieved.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible motion mapping method for heterogeneous robots, characterized in that, Includes the following steps: Collect joint motion data from the master-side follow-up teaching pendant; Based on the joint motion data, the core task components corresponding to the task space of the slave actuator are extracted, and redundant motion components are identified and separated. At least one motion signal from the redundant motion components is converted into a drive command for the slave actuator according to a flexible mapping rule. The drive instructions are subjected to safety constraints, and the slave actuator receives and executes the processed instructions. The physical motion parameters of the slave actuator are obtained, and a virtual pose feedback signal conforming to the master communication protocol is generated based on the physical motion parameters using a reverse reconstruction algorithm. The virtual pose feedback signal is then transmitted back to the master servo teach pendant to form a remote operation closed loop.

2. The flexible motion mapping method for heterogeneous robots according to claim 1, characterized in that, The number of motion degrees of freedom of the master-end teach pendant is greater than the number of motion degrees of freedom of the slave-end actuator.

3. The flexible motion mapping method for heterogeneous robots according to claim 1, characterized in that, The slave actuator has at least one linear motion degree of freedom.

4. The flexible motion mapping method for heterogeneous robots according to claim 1, characterized in that, The flexible mapping rule includes radian and linear displacement flexible conversion logic, which is used to convert the rotational motion signal in the redundant motion components into the linear displacement command of the slave actuator.

5. A flexible motion mapping method for heterogeneous robots according to claim 4, characterized in that, The formula for the linear mapping mathematical model used in the flexible conversion logic of radians and linear displacement is as follows: in, This represents the linear displacement command of the slave actuator within the physical travel interval [Lmin, Lmax] after mapping. This represents the real-time signal of the preset joint in the master-end follow-up teach pendant within the interval [θmin, θmax].

6. The flexible motion mapping method for heterogeneous robots according to claim 4, characterized in that, The radian and linear displacement flexible conversion logic also includes polarity alignment: when the rotational motion signal increases, the linear motion degree of freedom of the slave actuator is driven to perform positive linear motion, so that the rotational intention of the master end is consistent with the physical logic of the linear action of the slave end.

7. The flexible motion mapping method for heterogeneous robots according to claim 1, characterized in that, In the process of identifying and separating redundant motion components, a follow-up compensation mechanism is established based on the difference in degrees of freedom between the master follow-up teaching pendant and the slave actuator. The redundant motion components are used to generate zero-space motion to absorb the non-instructional posture deflection of the operator's hand.

8. The flexible motion mapping method for heterogeneous robots according to claim 1, characterized in that, The safety constraint processing includes: performing numerical saturation limit processing on the generated drive commands, buffering and truncating commands that exceed the safe travel range through a software constraint algorithm, and using redundant degrees of freedom to smooth the motion trajectory.

9. A flexible motion mapping method for heterogeneous robots according to claim 1, characterized in that, In the reverse reconstruction algorithm, a unit quaternion is used to determine the end-effector rotational attitude of the slave actuator. The reconstruction is performed using the following formula: in, This represents the real-time radian component of the rotating shaft at the end of the actuator.

10. A flexible motion mapping system for heterogeneous robots, implemented based on the method described in any one of claims 1-9, characterized in that, Includes a master-end teaching pendant, slave-end actuators, and a heterogeneous adaptation central control unit; The master-end follow-up teaching pendant is used to collect the operator's joint movement data; The slave executor is used to execute drive instructions; The heterogeneous adaptation central control unit is communicatively connected to the master-end follow-up teach pendant and the slave-end actuator; The heterogeneous adaptation central control unit includes: a motion intent extraction and redundant component identification module, used to extract core task components from the joint motion data and identify and separate redundant motion components; a flexible adaptation module, used to convert motion signals in the redundant motion components into drive commands for the slave actuator; a safety constraint module, used to perform safety constraint processing on the drive commands; and a reverse reconstruction module, used to generate virtual pose feedback signals based on the physical motion parameters of the slave actuator.

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