A teleoperation device-based robot arm control method and control system

Abstract

The application relates to the technical field of robots, in particular to a mechanical arm control method and control system based on a teleoperation device, which comprises the following steps: determining a control mode based on the relationship between the configuration of a mechanical arm and the configuration of an operator's arm; acquiring arm parameters by using the teleoperation device, wherein the arm parameters comprise the length of a large arm, the length of a small arm and a plurality of joint angles; calculating the wrist position and pose of the operator's arm at a target time based on a preset arm DH model and the arm parameters; and controlling the mechanical arm based on the control mode and the plurality of joint angles or the wrist position and pose of the operator's arm at the target time. The application establishes the mapping relationship between the configuration of the mechanical arm and the configuration of the operator's arm, determines the adaptive control mode, realizes the mechanical arm control based on the length of the large arm, the length of the small arm and the joint angles of the operator's arm parameters, can accurately and timely map the operator's action to the mechanical arms of different types and different configurations, and has good versatility.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a robotic arm control method and control system based on a teleoperation device. Background Technology

[0002] Robotic arms have wide applications in industrial manufacturing, medical surgery, and hazardous environments. As operational tasks become increasingly complex and sophisticated, higher demands are placed on the precision and flexibility of robotic arm control. Traditional robotic arm control methods typically rely on preset programs or simple teach-in operations. These methods lack sufficient flexibility in complex environments and struggle to achieve real-time, precise control of multi-degree-of-freedom robotic arms.

[0003] To improve the naturalness and precision of operations, teleoperation technology has become a research hotspot. Teleoperation devices can collect the operator's arm movements and convert them into control commands for the robotic arm through a mapping relationship, thereby achieving remote control. However, traditional robotic arm control methods based on teleoperation devices cannot meet the requirements of versatility. Summary of the Invention

[0004] (a) Purpose of the invention The purpose of this invention is to provide a robotic arm control method and control system based on a remote operation device. By establishing a mapping relationship between the robotic arm and the operator's arm configuration, an adaptive control mode is determined, and robotic arm control based on the operator's arm parameters, such as the upper arm length, forearm length, and joint angle, is realized. This method can accurately and in real time map the operator's movements onto robotic arms of different types and configurations, and has good versatility.

[0005] (II) Technical Solution To address the above problems, this invention provides a robotic arm control method based on a teleoperation device, comprising: The control mode is determined based on the relationship between the robotic arm configuration and the operator's arm configuration; The operator's arm parameters are obtained using a teleoperation device, including the operator's upper arm length, forearm length, and multiple joint angles. Based on the preset arm DH model and the operator's arm parameters, the target moment pose of the operator's wrist is calculated; The robotic arm is controlled based on the control mode and multiple joint angles, or the target position and pose of the operator's wrist at any given time.

[0006] In another aspect of the present invention, preferably, the remote operation device includes an angle measurement module, which is configured as multiple angle measurement units; Each angle measurement unit includes an angle measurement component, a tendon ligament, and an angle fixation component; The angle measuring component and the angle fixing component are connected by the tendon rope. The angle measuring component is set at the operator's arm joint, and the angle fixing component is set in the corresponding motion-related area of ​​the operator's arm joint. When the operator's arm joint rotates, the tendon ligaments stretch or contract, and the angle measuring component converts the stretch or contraction into the corresponding joint angle based on a preset conversion relationship.

[0007] In another aspect of the present invention, preferably, the control mode includes a direct mapping mode and an incremental mode; The determination of the control mode based on the relationship between the robotic arm configuration and the operator's arm configuration includes: If the configuration of the robotic arm is consistent with the configuration of the operator's arm, the control mode is the direct mapping mode, which uses multiple joint angles to control the robotic arm. If the configuration of the robotic arm is inconsistent with the configuration of the operator's arm, the control mode is an incremental mode. The incremental mode uses the target position and pose of the operator's wrist at any given time to control the robotic arm.

[0008] In another aspect of the present invention, preferably, the calculation of the target moment pose of the operator's wrist based on a preset arm DH model and the operator's arm parameters includes: Based on a preset arm DH model, multiple joint angles, and a preset positive kinematics algorithm, the target pose of the operator's arm wrist at any given time is calculated. The preset positive kinematics algorithm is expressed by the following formula: in, This represents the homogeneous transformation matrix of the operator's arm and wrist pose relative to the base coordinate system at the target time, i.e., the pose of the operator's arm and wrist at the target time. Let represent the homogeneous transformation matrix from the base coordinate system to the first joint coordinate system. This represents the homogeneous transformation matrix from the first joint coordinate system to the second joint coordinate system. This represents the homogeneous transformation matrix from the sixth joint coordinate system to the wrist coordinate system.

[0009] In another aspect of the present invention, preferably, if the control mode is an incremental mode, controlling the robotic arm based on the target time pose of the operator's wrist includes: Set the initial state of the operator's arm and the robotic arm; The position mapping coefficient is determined based on the preset relationship between the operator's arm and the robotic arm's movement distance. Based on the target pose of the operator's arm and wrist at any given time, obtain the change in pose and position of the operator's arm and wrist relative to the initial state. Based on the position mapping coefficient, attitude change amount, and position change amount, calculate the end-effector pose of the robotic arm at any given time. The robotic arm is controlled based on the end-effector pose at the current time.

[0010] In another aspect of the present invention, preferably, the end-effector pose at the target moment is calculated using the following formula: in, Let i represent the target pose of the robotic arm's end effector at that moment, where i represents the target time. The initial attitude coordinates. Indicates the amount of attitude change. Represents the initial position coordinates. denoted by , where k represents the position change coefficient.

[0011] In another aspect of the present invention, preferably, controlling the robotic arm based on the end-effector's target pose at a given moment includes: When the robotic arm is a six-degree-of-freedom robotic arm, the control information of the corresponding joints of the robotic arm is obtained according to the end target pose and joint angle at the current moment. The robotic arm is controlled based on the control information.

[0012] In another aspect of the present invention, preferably, controlling the robotic arm based on the end-effector's target pose at a given moment includes: When the robotic arm is a seven-degree-of-freedom robotic arm, the control information of the corresponding joints of the robotic arm is obtained according to the end target pose and joint angle at the current moment. Based on a preset arm DH model and multiple joint angles, the arm angle information of the operator's arm is obtained; The robotic arm is controlled based on the control information and the operator's arm angle information.

[0013] In another aspect of the present invention, preferably, the control information is calculated using the following formula: Where q_robot represents control information, which is the target position of the joint at the current moment; q_ref represents the angle of the robot arm at the previous moment of the target moment; pose represents the end-effector pose of the robot arm at the target moment; ψ is the arm angle information of the operator's arm; and ikine represents the inverse kinematics.

[0014] In another aspect of the present invention, preferably, a robotic arm control system based on a teleoperation device includes: Determining the module: Based on the relationship between the robotic arm configuration and the operator's arm configuration, determining the control mode; Acquisition module: Acquires operator's arm parameters using a teleoperation device, including the operator's upper arm length, forearm length, and multiple joint angles; Calculation module: Based on the preset arm DH model and the operator's arm parameters, calculate the target pose of the operator's wrist at any given time; Control module: Controls the robotic arm based on the control mode and multiple joint angles, or the target position and posture of the operator's wrist at any given time.

[0015] (III) Beneficial Effects The above-described technical solution of the present invention has the following beneficial technical effects: This invention establishes a mapping relationship between the robotic arm and the operator's arm configuration, determines an adaptive control mode, and realizes robotic arm control based on the operator's arm parameters, such as the upper arm length, forearm length, and joint angles. It can accurately and in real time map the operator's movements onto the robotic arm, regardless of the specific configuration and number of degrees of freedom of the robotic arm. It can adapt to robotic arms with different structural forms and dimensional parameters, and has good versatility. Attached Figure Description

[0016] Figure 1 This is an overall flowchart of one embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of a remote operation device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the seven degrees of freedom of an arm; Figure 4 This is a schematic diagram of a robotic arm according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the angle measurement module structure according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the length measurement module structure according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a preset arm DH model according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the direct mapping mode according to an embodiment of the present invention; Explanation of reference numerals in the attached figures: 1: First angle measuring unit, 2: Second angle measuring unit, 3: Third angle measuring unit, 4: Fourth angle measuring unit, 5: Fifth angle measuring unit, 6: Sixth angle measuring unit, 7: Seventh angle measuring unit, 8: First length measuring unit, 9: Second length measuring unit. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0018] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0019] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0020] Example 1 A robotic arm control method based on a teleoperation device, Figure 1 An overall flowchart of one embodiment of the present invention is shown, as follows: Figure 1 As shown, it includes: The control mode is determined based on the relationship between the robotic arm configuration and the operator's arm configuration. The robotic arm configuration refers to the overall structural form formed by the type, number, and spatial connection relationship of its joints and links. Table 1 shows the DH parameters of a human arm, corresponding to one configuration. Each robotic arm corresponds to a set of DH parameters. If any of the DH parameters of the robotic arm differs from those of the human arm, it indicates that their configurations are different. In this embodiment, the control modes include direct mapping mode and incremental mode. If the configuration of the robotic arm is consistent with that of the operator's arm, the control mode is direct mapping mode. Here, when all the DH parameters of the robotic arm and the human arm are consistent, the configurations are consistent. If the configurations of the robotic arm and the operator's arm are inconsistent, the control mode is incremental mode. When any of the DH parameters of the robotic arm and the human arm differ, the configurations are inconsistent.

[0021] The operator's arm parameters are acquired using a teleoperation device, including the length of the upper arm, the length of the forearm, and multiple joint angles. The teleoperation device is mounted on the operator's arm and communicates with the robotic arm; the specific structure of the teleoperation device is not limited here. Figure 2A schematic diagram of the overall structure of a teleoperation device according to an embodiment of the present invention is shown, as follows: Figure 2 As shown, the teleoperation device includes an angle measurement module and a length measurement module. The angle measurement module measures multiple joint angles, and the length measurement module measures the length of the upper arm and forearm. Here, the angle measurement module is configured with seven angle measurement units, and the length measurement module with two measurement units. The angle measurement module includes a first angle measurement unit 1, a second angle measurement unit 2, a third angle measurement unit 3, a fourth angle measurement unit 4, a fifth angle measurement unit 5, a sixth angle measurement unit 6, and a seventh angle measurement unit 7. The first angle measurement units 1, 2, and 3 are located at the shoulder joint to measure the shoulder joint angle; these units are collectively located in the shoulder joint area. The fourth angle measurement unit 4 is located at the elbow joint to measure the elbow joint angle; the fifth, sixth, and seventh angle measurement units 5, 6, and 7 are located at the wrist joint to measure the wrist joint angle. The length measurement module includes a first length measurement unit 8 and a second length measurement unit 9. The first length measurement unit 8 is located at the upper arm to measure the upper arm length; the second length measurement unit 9 is located at the forearm to measure the forearm length. The principle is to abstract the operator's upper limbs into a multi-degree-of-freedom mechanical structure model consistent with the kinematics of a robotic arm. The human arm can be regarded as a seven-degree-of-freedom robotic arm. Figure 3 A schematic diagram of the seven degrees of freedom of the arm is shown, such as Figure 3 As shown, the human arm can be kinematically equivalent to a serial robotic arm structure with seven degrees of freedom. The shoulder joint is a ball joint with three degrees of freedom, rotating around three mutually orthogonal axes in space, corresponding to flexion / extension, abduction / adduction, and internal / external rotation. The elbow joint is a single-degree-of-freedom rotational joint, primarily realizing forearm flexion and extension. The wrist joint is also a ball joint with three rotational degrees of freedom, corresponding to wrist pitch, yaw, and rotation. These seven degrees of freedom collectively determine the posture and position of the arm's end (hand) in space. Figure 4 A schematic diagram of an arm model according to an embodiment of the present invention is shown, as follows. Figure 4 As shown, the arm can be abstracted into a model of rotating joints and links. The rotation of each joint, including 7 joints from θ1 to θ7, is used to characterize the real-time motion state of the shoulder, elbow, and wrist joints. The lengths d1 and d2 represent the lengths of the upper arm and forearm.

[0022] Figure 5 A schematic diagram of the angle measurement module structure according to an embodiment of the present invention is shown, as follows: Figure 5As shown, each angle measurement unit includes an angle measurement component, a tendon ligament, and an angle fixing component. The angle measurement component and the angle fixing component are connected by the tendon ligament. The angle measurement component is located at the operator's arm joint, and the angle fixing component is located in the motion-related area of ​​the corresponding operator's arm joint. When the corresponding operator's arm joint rotates, the tendon ligament generates a stretching amount. The angle measurement component converts the stretching amount into a joint angle based on a preset conversion relationship. The angle measurement component is used to detect the stretching changes of the tendon ligament and may include a linear displacement sensor inside. The angle fixing component is used to fix one end of the tendon ligament to a part with a defined geometric relationship to the target joint movement to ensure that the stretching changes of the tendon ligament have a stable and repeatable correspondence when the joint rotates. The tendon ligament is a flexible cable structure, with one end connected to the angle measurement component and the other end connected to the angle fixing component, used to transmit displacement changes during joint movement. In terms of specific setup, the angle measurement component is positioned close to the rotation axis of the corresponding joint, such as near the shoulder joint, the outer side of the elbow joint, or the back of the wrist joint, to minimize interference with the operator's natural movements. The angle fixing component is positioned in the motion-related area of ​​the corresponding joint. This motion-related area is the part that undergoes a definite trajectory change relative to the joint rotation axis during joint rotation, such as the outer surface of adjacent limb segments or a fixed brace structure. When the operator's arm rotates, the relative posture change between the limb segments on both sides of the joint will cause the tendon chords to undergo corresponding stretching or retraction displacement. The angle measurement component detects the changes in tendon chord stretching in real time and converts the stretching into the angle information of the corresponding joint based on a pre-established conversion relationship. The conversion relationship can be obtained through geometric modeling, calibration experiments, or lookup tables. For example, before the device is first worn or used, the operator is guided to complete standard movements within a preset angle range to calibrate the mapping relationship between tendon chord displacement and joint angle, and the calibration results are stored. During actual operation, the instantaneous angle of the corresponding joint is calculated based on the real-time collected tendon chord stretching and the conversion relationship. For example, the tendon ligaments are set as a pair. Specifically, the initial teleoperation posture can be defined as the human arm being fully extended and perpendicular, at which point the joint angles acquired by the various angle measurement components are 0; when the human arm moves, such as Figure 5 As shown, the tendon ligament on one side extends while the tendon ligament on the other side contracts. The angle is calculated based on the degree of extension and contraction. For example, if the contracted length is 5.1mm and the extended length is 5.3mm (including error), the average of the two is 5.2mm. This is then multiplied by a scaling factor to convert it into a true joint angle. Through the above structure and working principle, the angle measurement module can reliably and continuously acquire multi-degree-of-freedom angle information of various joints in the operator's arm without directly restricting the free movement of the human joints. It has the advantages of simple structure, flexible wearing, and strong adaptability.

[0023] Figure 6A schematic diagram of the length measurement module structure according to an embodiment of the present invention is shown, as follows: Figure 6 As shown, each length measurement unit includes a length measuring component and a length fixing component, which are respectively located at both ends of the operator's arm. Length information is obtained based on the distance between the length measuring component and the length fixing component. To acquire the geometric dimensions of each segment of the operator's arm and provide necessary structural parameters for angle calculation and robotic arm motion mapping, the length measurement module consists of multiple length measuring units, each corresponding to a segment of the human arm, such as... Figure 6 As shown, each length measurement unit includes a length measuring component and a length fixing component, which are respectively positioned at both ends of the corresponding segment of the operator's arm. For example, when measuring the length of the upper arm, the length measuring component can be positioned near the shoulder, and the length fixing component near the elbow; when measuring the length of the forearm, the length measuring component can be positioned near the elbow, and the length fixing component near the wrist. By arranging the components at both ends of the limb segment, the actual effective length of that limb segment within the human body structure can be directly reflected.

[0024] Based on the preset arm DH model and arm parameters, calculate the target pose of the operator's arm wrist at any given time. Figure 7 A schematic diagram of a preset arm DH model according to an embodiment of the present invention is shown, as follows. Figure 7 As shown, the preset arm DH model converts the arm parameters into the target moment pose of the operator's arm wrist based on a coordinate system. DH is an abbreviation for Denavit-Hartenberg. The preset arm DH model is a standard modeling method used to describe the geometric relationship between the links and joints of a robotic arm. By using multiple joint rotation information and multiple length information, the various parameters of the preset arm DH model can be calculated. Table 1 shows the parameters of the arm DH model. Table 1 Parameters of the Arm DH Model In this embodiment, the target pose of the operator's wrist is calculated based on a preset arm DH model, multiple joint angles, and a preset positive kinematics algorithm. In the pre-defined DH model of the arm, the transformation between coordinate systems uses a homogeneous transformation matrix. For the i-th coordinate system, its homogeneous transformation matrix relative to the (i-1)-th coordinate system is: in, This represents the rotation of the i-th coordinate system relative to the (i-1)-th coordinate system. Representing the movement of the i-th coordinate system relative to the (i-1)-th coordinate system, the preset positive kinematics algorithm is expressed by the following formula: The instantaneous pose of the arm and wrist target relative to the base coordinate system can be expressed by the following formula: in, This represents the homogeneous transformation matrix of the operator's arm and wrist pose relative to the base coordinate system at the target time, i.e., the pose of the operator's arm and wrist at the target time. Let represent the homogeneous transformation matrix from the base coordinate system to the first joint coordinate system. This represents the homogeneous transformation matrix from the first joint coordinate system to the second joint coordinate system. This represents the homogeneous transformation matrix from the sixth joint coordinate system to the wrist coordinate system.

[0025] The robotic arm is controlled based on the control mode and multiple joint angles, or the target position and pose of the operator's wrist. In this embodiment, if the configuration of the robotic arm is consistent with the configuration of the operator's arm, the control mode is a direct mapping mode, which uses multiple joint angles to control the robotic arm. Figure 8 A schematic diagram of a direct mapping mode according to an embodiment of the present invention is shown, as follows. Figure 8 As shown, the direct mapping mode achieves an intuitive and real-time mapping from operator movements to robotic arm movements without complex inverse kinematics solutions. In direct mapping mode, the collected joint angles are directly sent to the robotic arm as control commands. k1~k7 can be set to 1; parameters k8 and k9 are not used because parameters d1 and d2 are also unused. After receiving the joint angles θ1~θ7, the robotic arm directly sends each joint angle as a control command to the corresponding motor to achieve control.

[0026] Furthermore, if the configuration of the robotic arm is inconsistent with the configuration of the operator's arm, the control mode is an incremental mode. This incremental mode uses the target wrist position of the operator's arm to control the robotic arm, including: Set the initial state of the operator's arm and the robotic arm; the initial state can be uniformly calibrated when starting or when the operator begins teleoperation, for example, keeping the operator's arm in a natural hanging position or a specified standard posture, and adjusting the robotic arm to the corresponding initial posture.

[0027] Based on a preset relationship between the operator's arm and the robotic arm's movement distance, a position mapping coefficient is determined. This position mapping coefficient is a proportionality coefficient. The preset relationship between the operator's arm and the robotic arm's movement distance includes: establishing a proportional mapping relationship between the displacement of the operator's arm end effector (wrist) in each coordinate axis direction and the displacement of the robotic arm end effector in the corresponding coordinate axis direction. This proportional mapping relationship is characterized by the position mapping coefficient. Specifically, the position mapping coefficient is defined as the ratio of the displacement of the robotic arm end effector to the displacement of the operator's wrist, used to characterize the amplification or reduction of the operator's movement to the robotic arm's movement. Specifically, when the displacement of the operator's wrist in the target direction is the first displacement, the displacement of the robotic arm end effector in the corresponding direction is the second displacement. The position mapping coefficient k satisfies: When the position mapping coefficient is 1, it indicates that the robotic arm end effector and the operator's wrist move proportionally. When the position mapping coefficient is greater than 1, it indicates that the movement of the robotic arm end effector is amplified relative to the operator's arm movement. When the position mapping coefficient is less than 1, it indicates that the movement of the robotic arm end effector is reduced relative to the operator's arm movement. For example, if the operator's wrist moves 10cm in the x-direction, and the goal is to move the robotic arm end effector 10cm in the x-direction, the position mapping coefficient is 1. If the goal is for the robotic arm to move 20cm, the position mapping coefficient is 2.

[0028] Based on the target pose of the operator's arm and wrist at the moment, the attitude change and position change of the operator's arm and wrist relative to the initial state are obtained; the position change can be expressed as the displacement vector of the end in three-dimensional space relative to the initial position, and the attitude change can be expressed as the rotation increment, rotation matrix difference or equivalent attitude parameter change around each coordinate axis.

[0029] Based on the position mapping coefficients, attitude change, and position change, the end-effector pose at the target moment is calculated; the end-effector pose at the target moment is calculated using the following formula: in, Let i represent the target pose of the robotic arm's end effector at that moment, where i represents the target time. The initial attitude coordinates. Indicates the amount of attitude change. Represents the initial position coordinates. denoted by , where k represents the position change coefficient.

[0030] The robotic arm is controlled based on its end-effector pose at the target moment. The control method varies depending on the robotic arm's degrees of freedom. Specifically, in the first case, when the robotic arm is a six-degree-of-freedom robotic arm, the control information for the corresponding joints is obtained based on the end-effector pose and joint angles. The control information is calculated using the following formula: Here, q_robot represents the control information, which is the target position of the joint at the current moment, that is, the position that the joint of the robot arm should reach at the current moment. The robot arm is composed of multiple joints, so q_robot is an array. q_ref represents the angle of the robot arm at the previous moment of the target moment. pose represents the end-effector pose of the robot arm at the target moment. ikine represents the inverse kinematics.

[0031] The robotic arm is controlled based on the control information.

[0032] In the second case, when the robotic arm is a seven-degree-of-freedom robotic arm, the control information of the corresponding joints of the robotic arm is obtained based on the end-effector's pose and joint angles at the current moment; the control information is also calculated using the above formula.

[0033] Based on a pre-defined DH (Hand-Width) model of the arm and multiple joint angles, the arm angle information of the operator's arm is obtained. The seven-DOF (DoF) robotic arm is redundant, therefore there are countless solutions at each moment. When controlling the seven-DOF robotic arm, in addition to the end-effector pose, the arm angle of the slave arm at that moment is also required to best match the state of the human arm. Based on the coordinate description of the arm's DH model, since the arm's DH model parameters and seven sets of joint angles are known, the pose in the arm coordinate system can be calculated. Therefore, the corresponding arm angle is also known, and the solution for the arm angle can be described by the following formula: Where θ represents the joint angle of the operator's arm, get_arm_angle is the operator for calculating the arm angle, and ψ represents the arm angle of the operator's arm. The arm angle operator is obtained based on the planar constraint principle of human-machine mapping. Using the arm angle derived from the DH model of the arm directly as the arm angle of the slave arm can maximize the consistency between the overall pose of the slave arm and the human arm. For a 7-axis robotic arm, there is an arm angle. Therefore, during control, to ensure that the shape of the robotic arm is as similar as possible to the human arm, the arm angle needs to be used as a constraint in the inverse solution of the robotic arm. This allows us to obtain a set of solutions among countless 7-axis solutions where the arm angle is closest to the human arm angle.

[0034] Here, q_robot represents the control information, which is the target position of the joint at the current moment, that is, the position that the joint of the robotic arm should reach at the current moment. The robotic arm is composed of multiple joints, so q_robot is an array. q_ref represents the angle of the robotic arm at the previous moment of the target moment. pose represents the end-effector pose of the robotic arm at the target moment. ψ is the arm angle information of the operator's arm. ikine represents the inverse kinematics.

[0035] The robotic arm is controlled based on control information and the operator's arm angle information.

[0036] This embodiment can be adapted to robotic arms with different structural forms and dimensional parameters, and has good versatility.

[0037] Example 2 A robotic arm control system based on a teleoperation device includes Determining the module: Based on the relationship between the robotic arm configuration and the operator's arm configuration, determining the control mode; Acquisition module: Acquires operator's arm parameters using a teleoperation device, including the operator's upper arm length, forearm length, and multiple joint angles; Calculation module: Based on the preset arm DH model and the operator's arm parameters, calculate the target pose of the operator's wrist at any given time; Control module: Controls the robotic arm based on the control mode and multiple joint angles, or the target position and posture of the operator's wrist at any given time.

[0038] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of the invention and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of the invention should be included within the protection scope of the invention. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

[0039] The present invention has been described above with reference to embodiments thereof. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. The scope of the invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention.

[0040] Although embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions, and modifications can be made to the embodiments of the present invention without departing from the spirit and scope of the invention.

[0041] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A robotic arm control method based on a teleoperation device, characterized in that, include: The control mode is determined based on the relationship between the robotic arm configuration and the operator's arm configuration; The operator's arm parameters are obtained using a teleoperation device, including the operator's upper arm length, forearm length, and multiple joint angles. Based on the preset arm DH model and the operator's arm parameters, the target moment pose of the operator's wrist is calculated; The robotic arm is controlled based on the control mode and multiple joint angles, or the target position and pose of the operator's wrist at any given time.

2. The robotic arm control method based on a teleoperation device according to claim 1, characterized in that, The remote operation device includes an angle measurement module, which is configured with multiple angle measurement units. Each angle measurement unit includes an angle measurement component, a tendon ligament, and an angle fixation component; The angle measuring component and the angle fixing component are connected by the tendon rope. The angle measuring component is set at the operator's arm joint, and the angle fixing component is set in the corresponding motion-related area of ​​the operator's arm joint. When the operator's arm joint rotates, the tendon ligaments stretch or contract, and the angle measuring component converts the stretch or contraction into the corresponding joint angle based on a preset conversion relationship.

3. The robotic arm control method based on a teleoperation device according to claim 1, characterized in that, The control modes include direct mapping mode and incremental mode; The determination of the control mode based on the relationship between the robotic arm configuration and the operator's arm configuration includes: If the configuration of the robotic arm is consistent with the configuration of the operator's arm, the control mode is the direct mapping mode, which uses multiple joint angles to control the robotic arm. If the configuration of the robotic arm is inconsistent with the configuration of the operator's arm, the control mode is an incremental mode. The incremental mode uses the target position and pose of the operator's wrist at any given time to control the robotic arm.

4. The robotic arm control method based on a teleoperation device according to claim 3, characterized in that, The calculation of the target wrist pose of the operator's arm based on the preset arm DH model and the operator's arm parameters includes: Based on a preset arm DH model, multiple joint angles, and a preset positive kinematics algorithm, the target pose of the operator's arm wrist at any given time is calculated. The preset positive kinematics algorithm is expressed by the following formula: in, This represents the homogeneous transformation matrix of the operator's arm and wrist pose relative to the base coordinate system at the target time, i.e., the pose of the operator's arm and wrist at the target time. Let represent the homogeneous transformation matrix from the base coordinate system to the first joint coordinate system. This represents the homogeneous transformation matrix from the first joint coordinate system to the second joint coordinate system. This represents the homogeneous transformation matrix from the sixth joint coordinate system to the wrist coordinate system.

5. The robotic arm control method based on a teleoperation device according to claim 4, characterized in that, If the control mode is incremental mode, controlling the robotic arm based on the target pose of the operator's wrist at that moment includes: Set the initial state of the operator's arm and the robotic arm; The position mapping coefficient is determined based on the preset relationship between the operator's arm and the robotic arm's movement distance. Based on the target pose of the operator's arm and wrist at any given time, obtain the change in pose and position of the operator's arm and wrist relative to the initial state. Based on the position mapping coefficient, attitude change amount, and position change amount, calculate the end-effector pose of the robotic arm at any given time. The robotic arm is controlled based on the end-effector pose at the current time.

6. The robotic arm control method based on a teleoperation device according to claim 5, characterized in that, The end-effector pose at any given time is calculated using the following formula: in, Let i represent the target pose of the robotic arm's end effector at that moment, where i represents the target time. The initial attitude coordinates. Indicates the amount of attitude change. Represents the initial position coordinates. denoted by , where k represents the position change coefficient.

7. The robotic arm control method based on a teleoperation device according to claim 5, characterized in that, The control of the robotic arm based on the end-effector's current pose includes: When the robotic arm is a six-degree-of-freedom robotic arm, the control information of the corresponding joints of the robotic arm is obtained according to the end target pose and joint angle at the current moment. The robotic arm is controlled based on the control information.

8. The robotic arm control method based on a teleoperation device according to claim 5, characterized in that, The control of the robotic arm based on the end-effector's current pose includes: When the robotic arm is a seven-degree-of-freedom robotic arm, the control information of the corresponding joints of the robotic arm is obtained according to the end target pose and joint angle at the current moment. Based on a preset arm DH model and multiple joint angles, the arm angle information of the operator's arm is obtained; The robotic arm is controlled based on the control information and the operator's arm angle information.

9. The robotic arm control method based on a teleoperation device according to any one of claims 8, characterized in that, The control information is calculated using the following formula: Where q_robot represents control information, which is the target position of the joint at the current moment; q_ref represents the angle of the robot arm at the previous moment of the target moment; pose represents the end-effector pose of the robot arm at the target moment; ψ is the arm angle information of the operator's arm; and ikine represents the inverse kinematics.

10. A robotic arm control system based on a teleoperation device, characterized in that, include: Determining the module: Based on the relationship between the robotic arm configuration and the operator's arm configuration, determining the control mode; Acquisition module: Acquires operator's arm parameters using a teleoperation device, including the operator's upper arm length, forearm length, and multiple joint angles; Calculation module: Based on the preset arm DH model and the operator's arm parameters, calculate the target pose of the operator's wrist at any given time; Control module: Controls the robotic arm based on the control mode and multiple joint angles, or the target position and posture of the operator's wrist at any given time.

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