A master-slave teleoperation robot control method and master-slave teleoperation system

Abstract

The application provides a master-slave teleoperation robot control method and a master-slave teleoperation system. The method provided by the application comprises the following steps: a master device acquires a first position increment of the master device and sends the first position increment to a slave robot in response to a remote control operation of a user; the slave robot determines a second position increment of the slave robot according to the first position increment, and calculates a first virtual force for guiding movement of the slave robot according to the second position increment, an initial position and a current position; the slave robot determines a first total driving force according to a current interaction force collected by a force sensor and the first virtual force, and determines an expected pose at a next moment according to the first total driving force by using a mobility control algorithm, and then controls movement of the slave robot according to the expected pose. By introducing force feedback and mobility control algorithm, the application realizes compliant control and stable response of movement of the slave robot in the master-slave teleoperation system, and can effectively improve operation accuracy.

Description

Technical Field

[0001] This application relates to the field of teleoperated robot technology, and in particular to a control method and a master-slave teleoperated robot operating system. Background Technology

[0002] Master-slave telecontrol systems are widely used in precision assembly, remote maintenance, medical surgery, and hazardous environments. These systems typically consist of a master operating device and a slave execution device. The operator inputs motion data through the master operating device, which then transmits the operator's intentions to the slave device, achieving remote collaborative control. In this way, operators can perform high-precision tasks in safe or confined environments, reducing human risk, improving work efficiency, and enabling remote intervention in complex or hazardous environments. However, existing master-slave telecontrol systems still have several shortcomings in control precision. Summary of the Invention

[0003] In view of this, this application provides a control method and a master-slave teleoperated robot to improve control accuracy.

[0004] Specifically, this application is implemented through the following technical solution:

[0005] The first aspect of this application provides a control method for a master-slave teleoperated robot. The method is applied to a master-slave teleoperated system, which includes a master device and a slave robot. A force sensor is mounted on the end effector of the slave robot. The method includes:

[0006] The master device responds to the user's remote control operation, obtains its own first position increment, and sends the first position increment to the slave robot;

[0007] The robot determines its second position increment based on the first position increment, and determines a first virtual force to guide its movement based on the second position increment, its initial position, and its current position.

[0008] The robot determines its first total driving force based on the current interactive force collected by the force sensor and the first virtual force.

[0009] The robot uses an admittance control algorithm to determine the desired pose at the next moment based on the first total driving force, and controls its own movement based on the desired pose.

[0010] A second aspect of this application provides a master-slave teleoperation system, which includes a master device and a slave robot, wherein a force sensor is provided on the end effector of the slave robot;

[0011] The master device is used to respond to the user's remote control operation, obtain its own first position increment, and send the first position increment to the slave robot;

[0012] The robot is configured to determine its own second position increment based on the first position increment, and to determine a first virtual force for guiding its own movement based on the second position increment, its own initial position, and its own current position.

[0013] The robot is further configured to determine a first total driving force for its own movement based on the current interactive force collected by the force sensor and the first virtual force.

[0014] The robot is also used to determine the desired pose at the next moment based on the first total driving force using an admittance control algorithm, and to control its own movement based on the desired pose.

[0015] The control method and operating system for a master-slave teleoperated robot provided in this application firstly involve the master device responding to the user's remote control operation, acquiring the displacement increment between its current and initial positions, and sending this first position increment to the slave robot via a master-slave communication channel. The slave robot, based on the received first position increment and its own initial and current actual positions, calculates its own second position increment, and based on this second position increment and the current position error, generates a first virtual force to guide its own movement according to Hooke's law and virtual stiffness parameters. Next, the slave robot, combining the current interaction force collected by its end effector sensor with the first virtual force, calculates a first total driving force to drive its own movement. Subsequently, the slave robot, based on an admittance control algorithm, maps the first total driving force to the desired pose at the next moment, and controls its end effector movement according to the desired pose through inverse kinematics calculation. Thus, through phased force / pose mapping, virtual force generation, and admittance control, the slave robot can achieve high-precision master-slave synchronous movement, while providing natural, compliant, and safe force feedback during interaction, achieving stability, accuracy, and robustness in the master-slave teleoperation process. Attached Figure Description

[0016] Figure 1 A flowchart of an embodiment of the control method for a master-slave teleoperated robot provided in this application;

[0017] Figure 2 This is a schematic diagram of the structure of a master-slave teleoperation system, which is an exemplary embodiment of this application. Detailed Implementation

[0018] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0019] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used herein are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0020] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0021] The following specific embodiments are given to illustrate the technical solution of this application in detail.

[0022] Figure 1 This is a flowchart of an embodiment of the control method for the master-slave teleoperated robot provided in this application. Please refer to... Figure 1 The method provided in this embodiment may include:

[0023] S101. The master device responds to the user's remote control operation, obtains its own first position increment, and sends the first position increment to the slave robot.

[0024] Figure 2 A schematic diagram of the master-slave teleoperation system provided for an exemplary embodiment of this application is shown in the attached diagram. Figure 2 The control method for a master-slave teleoperated robot provided in this embodiment is applied to a master-slave teleoperation system, which includes a master device and a slave robot. A force sensor is provided on the end effector of the slave robot.

[0025] See Figure 2 Force sensors are installed on the end effector of the robot to detect contact forces or environmental interaction forces encountered by the robot during operation. Through master-slave interaction between the master device and the slave robot, the operator can remotely control the movement and adjust the attitude of the slave robot from the master device, thereby completing precision operation tasks.

[0026] Specifically, the main device may include a control handle, a pose detection module, and a communication module. The operator inputs spatial movement through the control handle. The pose detection module detects the current position of the main device in real time and performs a differential calculation with the initial position to obtain the first position increment of the main device. Specifically, the first position increment is calculated according to the following formula:

[0027]

[0028] in, For the first position increment, The current position of the main device. The initial position of the main device.

[0029] It should be noted that the pose detection module can detect the pose of the main device based on sensing devices such as a six-dimensional force sensor, an inertial measurement unit (IMU) or an optical encoder, and use an internal microprocessor to filter and differentially process the continuously sampled pose signals to obtain high-precision position data.

[0030] S102, the robot determines its second position increment based on the first position increment, and determines a first virtual force to guide its movement based on the second position increment, its initial position, and its current position.

[0031] Specifically, the control mapping strategy in the master-slave teleoperation system adopts a virtual gripper mechanism, combined with an admittance control algorithm embedded in the slave robot controller, and can be configured in both velocity mapping and position mapping modes. This application uses the position mapping mode, where the slave device scales the first position increment to obtain its own second position increment. Specifically, the second position increment is calculated according to the following formula:

[0032]

[0033] in, Master-slave scaling factor The first position increment of the main equipment. This is the increment from the second position corresponding to the robot.

[0034] Furthermore, after determining its second position increment, the slave device determines a first virtual force to guide its movement based on the second position increment, its initial position, and its current position. Optionally, in one possible implementation, determining the first virtual force to guide its movement based on the second position increment, its initial position, and its current position includes:

[0035] (1) Determine the desired position based on the second position increment and the initial position.

[0036] Specifically, the robot determines its desired position based on the second position increment and its initial position, using the following formula:

[0037]

[0038] in, To get from the robot's desired position, This is from the robot's initial position.

[0039] (2) Determine the position error based on the desired position and the current position.

[0040] Specifically, after obtaining the desired position, the robot obtains its current position through its pose detection module and calculates the position error between the current position and the desired position. The calculation formula is as follows:

[0041]

[0042] in, To understand the robot's position error, From the robot's current position; To the desired position of the robot.

[0043] (3) Determine the first virtual force based on the position error and the preset virtual stiffness parameters.

[0044] Specifically, based on Hooke's Law, a virtual gripper mechanism is introduced, and a virtual force field is constructed through a virtual elastic model to provide compliant constraint and guidance for the robot's movement during operation. The formula for calculating the first virtual force is:

[0045] ;

[0046] in, As the first virtual force, This is a preset virtual stiffness parameter, which is used to adjust the stiffness of the virtual fixture and the compliance of the system.

[0047] S103, The robot determines the first total driving force to drive its own movement based on the current interactive force collected by the force sensor and the first virtual force.

[0048] Specifically, the force sensor installed on the robot's end effector collects the current interaction force in real time. This interaction force is used to characterize the external forces acting on the robot during operation, including the operating force indirectly applied by the operator through the master end or the environmental reaction force.

[0049] Furthermore, the robot superimposes the current interactive force collected in real time by the force sensor with the first virtual force to determine the first total driving force used to drive its own movement. The calculation formula is as follows:

[0050]

[0051] in, The force sensor measures the current interaction force in real time. As the first virtual force, It is the primary driving force.

[0052] It should be noted that, to avoid fluctuations in force signals caused by external interference or noise, the robot can monitor the collected data. The signal undergoes low-pass filtering or moving average processing to improve the smoothness of the total driving force and control accuracy. By incorporating virtual force and interactive force into the admittance control algorithm, dynamic coupling of force and pose can be achieved, enabling the robot to maintain a compliant response in a virtual elastic environment and possess good stability and safety under collision or constraint conditions.

[0053] S104. The robot uses an admittance control algorithm to determine the desired pose at the next moment based on the first total driving force, and controls its own movement based on the desired pose.

[0054] Specifically, in the admittance control algorithm, the algorithm is established based on the robot's preset desired dynamic characteristic parameters as control constraints. Its mathematical expression is as follows:

[0055]

[0056] in, For virtual mass matrix, Here is the damping matrix. Here is the stiffness matrix. For the desired pose, For the desired speed, The desired acceleration.

[0057] In one optional implementation, the robot utilizes an admittance control algorithm to determine the desired pose at the next moment based on the first total driving force, including:

[0058] (1) Determine the current admittance parameter based on the position error and the initial admittance parameter corresponding to the admittance control algorithm.

[0059] Specifically, based on the robot's position error The system dynamically adjusts the current admittance parameters based on preset initial admittance parameters to achieve adaptive control for different operational stages. These initial admittance parameters include a virtual mass matrix, a damping matrix, and a stiffness matrix. For example, when a large position error is detected, the stiffness matrix can be appropriately reduced. And add a damping matrix This improves the system's compliance and stability; while when the error is small, the stiffness can be increased to enhance positioning accuracy.

[0060] (2) Determine the desired pose at the next moment based on the current admittance parameter and the first total driving force.

[0061] Specifically, after obtaining the current admittance parameters, this embodiment calculates the desired pose at the next moment based on the admittance control algorithm and the first total driving force of the external action. The implementation process of the admittance control algorithm is detailed in the corresponding steps of the above method and will not be repeated here.

[0062] Furthermore, by solving the mathematical expression of the admittance control algorithm, the expected acceleration at the next moment is obtained, and its mathematical expression is:

[0063]

[0064] in, As the primary driving force, For the desired acceleration; For the desired speed, The desired pose is determined by further integration to obtain the desired velocity and desired position, thereby determining the desired pose at the next moment.

[0065] Furthermore, the robot controller takes the desired pose of the next moment as the control target, and combines the inverse kinematics algorithm to calculate the target angle and position command of each joint, driving the actuator to move, so as to achieve smooth and stable tracking of the end effector in space.

[0066] The master-slave teleoperated robot control method provided in this embodiment achieves high-precision, compliant, and adaptive control during the master-slave interaction process by introducing a control mechanism that combines force sensor feedback, virtual force calculation, and admittance control algorithm. This method offers the following significant advantages:

[0067] (1) Improve master-slave synchronization accuracy: The master device obtains the first position increment and maps it to the slave robot, realizing high-fidelity displacement synchronization between the master and slave ends. This avoids the instruction delay and proportional distortion problems existing in traditional teleoperation, enabling the slave robot to accurately follow the operator's intention to perform spatial movement.

[0068] (2) Enhance the naturalness and safety of force feedback: By setting force sensors and introducing virtual force calculation mechanisms at the robot end, a virtual stiffness model constructed using Hooke's Law is used to realize the effect of virtual gripper, enabling the robot to generate elastic feedback when it comes into contact with target objects or collides with obstacles, thereby effectively preventing operational instability or equipment damage caused by sudden force changes, and enhancing the safety and compliance of the operation process.

[0069] (3) Improve the dynamic response performance of the system: Through the admittance control algorithm, the robot's force information (including the current interaction force and the first virtual force) is transformed into the desired pose. Based on the dynamic equation of the admittance control algorithm, the accurate mapping between force and motion is realized, thereby improving the system's response speed and control stability to complex environmental force changes.

[0070] (4) Possesses adaptive control capability: During implementation, the admittance parameter can be adaptively adjusted according to the position error and velocity error to achieve dynamic parameter adjustment. For example, when a large error is detected, the stiffness matrix is ​​automatically reduced and the damping matrix is ​​increased, thereby suppressing oscillations and improving control stability, so that the system can maintain ideal dynamic characteristics under different operating environments.

[0071] (5) Significantly enhanced operational compliance and robustness: This embodiment uses a dual-layer coupling structure of virtual force and admittance control to enable the robot to maintain a smooth and predictable motion response when subjected to external disturbances, noise or sudden contact, which significantly improves the naturalness of human-computer interaction and the robustness of the system, and is suitable for a variety of complex task scenarios such as high-precision assembly, remote operation, and minimally invasive surgery.

[0072] The master-slave teleoperated robot control method provided in this embodiment firstly involves the master device responding to the user's remote control operation, acquiring the displacement increment between its current and initial positions, and sending this first position increment to the slave robot via a master-slave communication channel. The slave robot, based on the received first position increment and its own initial and current actual positions, calculates its own second position increment, and based on this second position increment and the current position error, generates a first virtual force to guide its own movement according to Hooke's law and virtual stiffness parameters. Next, the slave robot, combining the current interaction force collected by its end effector sensor with the first virtual force, calculates a first total driving force to drive its own movement. Subsequently, the slave robot, based on an admittance control algorithm, maps the first total driving force to the desired pose at the next moment, and controls its end effector movement according to the desired pose through inverse kinematics calculation. Thus, through phased force / pose mapping, virtual force generation, and admittance control, the slave robot can achieve high-precision master-slave synchronous movement, while providing natural, compliant, and safe force feedback during interaction, achieving stability, accuracy, and robustness in the master-slave teleoperation process.

[0073] Optionally, in one possible implementation, after determining the first total driving force that drives its own motion, the method further includes:

[0074] (1) The robot feeds back the first total driving force to the master device.

[0075] Specifically, after the robot calculates the first total driving force based on the current interaction force collected by the force sensor and the first virtual force, the robot transmits the first total driving force to the master device in real time through a communication interface (such as CAN bus, Ethernet, or wireless communication channel). During the transmission, the first total driving force can be decomposed into several components along the coordinate axes (such as x, y, and z components), and timestamp information can be attached to ensure that the data received by the master device is highly synchronized with the actual motion state of the robot's end effector.

[0076] Optionally, to avoid the impact of external noise and signal jitter on the feedback, the robot performs low-pass filtering or moving average processing on the first total driving force signal, and then sends the smoothed first total driving force to the main device, thereby ensuring that the feedback force felt by the user is smooth, stable and natural.

[0077] (2) The main device scales up the first total driving force and feeds it back to the user so that the user can feel the first total driving force and adjust its own remote control operation based on the first total driving force.

[0078] Specifically, after receiving the first total driving force from the robot, the master device scales the first total driving force proportionally according to the scaling factor preset by the master-slave teleoperation system to obtain a feedback force that is perceptible to the user. This scaling process can be implemented at the hardware level (such as a force feedback handle or force control joystick) or at the software level (such as adjusting the driving force input in the control algorithm) to ensure that the feedback force is within a safe range and can match the user's operating comfort and habits.

[0079] Furthermore, after experiencing the scaled feedback force, users can adjust their remote control operation based on the magnitude and direction of the force, thus achieving closed-loop control. Optionally, the master-slave remote control system can dynamically adjust the scaling factor, automatically optimizing the user-perceived feedback force according to task requirements or the operating environment, making the control process more natural, sensitive, and precise.

[0080] Optionally, in one possible implementation, the method further includes:

[0081] (1) When the robot detects that it has reached the physical boundary, it sends a notification message to the master device.

[0082] Specifically, the robot monitors its position, joint angles, or end effector pose in real time during movement. When the end effector or any joint reaches a preset physical boundary or safety limit (such as mechanical structural limits, joint angle limits, or collision protection zones), the robot sends a notification message to the master device via a communication interface (such as CAN bus, Ethernet, or wireless communication channel). This message includes specific information about the boundary event, such as position coordinates, boundary type, and trigger timestamp, for the master device to process in response.

[0083] Optionally, the robot can send an early warning notification when it detects that the boundary is approaching a threshold, thereby providing a buffer time for the main device and the user and reducing the risk of accidental collisions.

[0084] (2) After receiving the notification message, the master device sends a control command to the slave robot to instruct the slave robot to move at a specified speed.

[0085] Specifically, after receiving a notification message from the slave robot, the master device sends control commands to the slave robot according to the preset strategy of the master-slave teleoperation system. These commands instruct the slave robot to move at a specified speed in a safe direction or a reversing direction. The control commands may include speed magnitude, direction vector, and duration information. Optionally, the master device can dynamically adjust the command speed based on task requirements and boundary types to ensure smooth and safe movement of the slave robot while ensuring uninterrupted operation.

[0086] It should be noted that the specific value of the specified speed is set according to actual needs. In this embodiment, it is not limited. For example, in one possible implementation, the specified speed is (5, 0, 0).

[0087] (3) The robot calculates a second virtual force based on the specified speed to guide its own movement.

[0088] Specifically, based on the specified speed sent by the master device, the robot calculates a second virtual force using a virtual spring / damping model to guide its movement in a specified direction. The calculation of the second virtual force can employ a form similar to Hooke's Law as the calculation of the first virtual force.

[0089]

[0090] in, For the second virtual force, This is the second virtual stiffness coefficient. This is for velocity deviation. Optionally, the virtual stiffness and damping parameters can be dynamically adjusted according to the mission environment or boundary conditions to ensure that the boundary motion is both fast and smooth, avoiding oscillations or impacts. The implementation process of dynamically adjusting the virtual stiffness and damping parameters is detailed in the corresponding steps of the above method and will not be repeated here.

[0091] (4) The robot determines the second total driving force to drive its own movement based on the current interactive force collected by the force sensor and the second virtual force.

[0092] Specifically, the robot calculates a second total driving force based on the current interactive force and the second virtual force collected by the force sensor. This second total driving force is used to comprehensively consider the user's operating force and the virtual boundary guiding force, thereby driving the robot to move along a safe trajectory and avoid collisions or going out of bounds.

[0093] (5) The robot determines the desired pose at the next moment based on the second total driving force, and controls its own movement based on the desired pose.

[0094] Specifically, the desired acceleration, desired velocity, and desired pose of the robot are first calculated based on the admittance control algorithm and the second total driving force. Then, the calculated desired pose is mapped to joint angles or actuator control commands through inverse kinematics to control each joint or actuator to move to the desired pose, thereby enabling the robot to move safely at a specified speed. Optionally, an adaptive admittance parameter adjustment method can be combined to dynamically optimize the virtual stiffness, damping, and mass matrix, making the robot's motion smoother and more stable, while effectively avoiding exceeding physical boundaries.

[0095] Optionally, in one possible implementation, the method further includes:

[0096] (1) When the robot detects that it has reached the physical boundary, it sends a notification message to the master device.

[0097] Specifically, when the robot detects that it has reached its physical boundaries or the limits of its range of motion, it sends a notification message to the master device. This notification message includes the robot's current position, boundary information, and status indicators, informing the master device that it has reached its movement limits and reminding the master-slave remote control system to take timely protective measures to avoid overshoot or collision.

[0098] (2) After receiving the notification message, the master device sends a control command to the slave robot to pause movement and notifies the user of the notification message so that the user can control the master device to move and reset the origin of the master device.

[0099] Specifically, upon receiving a notification message from the slave robot, the master device immediately sends a pause command to the slave robot, causing it to stop its current movement. Simultaneously, the master device provides visual or haptic feedback to the user. This feedback informs the user that the slave robot has reached the boundary and allows them to manipulate the master device to reset its origin position. This step ensures system safety and prevents mechanical damage or operational errors caused by boundary conflicts.

[0100] (3) After resetting its own origin, the master device updates the control reference system so that subsequent operations can be controlled based on the new origin.

[0101] Specifically, after the user resets the origin of the master device based on feedback, the master device updates its control reference system, enabling subsequent remote control operations to be performed with the new origin as the reference. This step includes reinitializing the master device's coordinate system, refreshing the mapping relationship with the slave robot, and synchronously updating the master-slave scaling coefficients and reference positions, thereby ensuring the accuracy and safety of subsequent operations.

[0102] Optionally, in one possible implementation, determining the current admittance parameter based on the position error and the initial admittance parameter corresponding to the admittance control algorithm includes:

[0103] (1) Determine the current stiffness coefficient based on the position error, the initial stiffness coefficient in the initial admittance parameter, and the preset stiffness gain.

[0104] Specifically, the position error and velocity error are defined as follows:

[0105]

[0106] in, For the desired position, Current position This represents the position error. Based on this position error, the initial stiffness coefficient in the initial admittance parameters, and the preset stiffness gain, the current stiffness coefficient is determined, and its mathematical expression is:

[0107]

[0108] in, Indicates that the parameter Limited to the range Inside, The initial stiffness coefficient, , These are the upper limit and lower limit of the stiffness coefficient, respectively. The stiffness gain is a preset value used to adjust the degree of influence of position error on the current stiffness coefficient. The stiffness gain can be preset according to the robot's dynamic characteristics, load conditions and control stability requirements, or obtained through experimental calibration.

[0109] (2) Determine the current damping coefficient based on the position error, the initial damping coefficient in the initial admittance parameters, and the preset damping gain.

[0110] Specifically, the speed error is defined as:

[0111]

[0112] in, For the desired speed, At the current speed, This refers to the velocity error. Based on the velocity error, the initial damping coefficient in the initial admittance parameters, and the preset damping gain, the current damping coefficient is determined, and its mathematical expression is:

[0113]

[0114] in, Indicates that the parameter Limited to the range Inside, The preset damping gain, The initial damping coefficient, , These are the upper limit and lower limit of the damping coefficient, respectively.

[0115] (3) Determine the current virtual mass coefficient based on the position error, the initial virtual mass coefficient in the initial admittance parameter, and the preset virtual mass gain.

[0116] Specifically, based on the position error and the initial virtual mass coefficient and preset virtual mass gain in the initial admittance parameters, the current virtual mass coefficient is determined, and its mathematical expression is as follows:

[0117]

[0118] in, Indicates that the parameter Limited to the range Inside, For virtual quality gain, The initial virtual quality coefficient, , These are the upper limit and lower limit of the virtual quality parameter, respectively.

[0119] Corresponding to the aforementioned embodiment of a control method for a master-slave teleoperated robot, this application also provides an embodiment of a master-slave teleoperated system.

[0120] Please continue to refer to Figure 2 The master-slave teleoperation system provided in this embodiment includes a master device and a slave robot, and a force sensor is provided on the end effector of the slave robot;

[0121] The master device is used to respond to the user's remote control operation, obtain its own first position increment, and send the first position increment to the slave robot;

[0122] The robot is configured to determine its own second position increment based on the first position increment, and to determine a first virtual force for guiding its own movement based on the second position increment, its own initial position, and its own current position.

[0123] The robot is further configured to determine a first total driving force for its own movement based on the current interactive force collected by the force sensor and the first virtual force.

[0124] The robot is also used to determine the desired pose at the next moment based on the first total driving force using an admittance control algorithm, and to control its own movement based on the desired pose.

[0125] For details on the specific implementation process and principles of the above steps, please refer to the description in the previous embodiments, which will not be repeated here.

[0126] Optionally, the slave robot is further configured to feed back the first total driving force to the master device;

[0127] The main device is also used to scale the first total driving force and feed it back to the user so that the user can feel the first total driving force and adjust their remote control operation based on the first total driving force.

[0128] The implementation process of the functions and roles of each unit in the above system is detailed in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0129] Optionally, the slave robot is also configured to send a notification message to the master device when it detects that it has reached a physical boundary;

[0130] The master device is also configured to send a control command to the slave robot after receiving the notification message, instructing the slave robot to move at a specified speed;

[0131] The robot is also configured to calculate a second virtual force for guiding its own movement based on the specified speed;

[0132] The robot is further configured to determine a second total driving force for its own movement based on the current interactive force collected by the force sensor and the second virtual force.

[0133] The robot is further configured to determine the desired pose at the next moment based on the second total driving force, and control its own movement based on the desired pose.

[0134] The implementation process of the functions and roles of each unit in the above system is detailed in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0135] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control method for a master-slave teleoperated robot, characterized in that, The method is applied to a master-slave teleoperation system, which includes a master device and a slave robot, wherein a force sensor is installed on the end effector of the slave robot; the method includes: The master device responds to the user's remote control operation, obtains its own first position increment, and sends the first position increment to the slave robot; The robot determines its second position increment based on the first position increment, and determines a first virtual force to guide its movement based on the second position increment, its initial position, and its current position. The robot determines its first total driving force based on the current interactive force collected by the force sensor and the first virtual force. The robot uses an admittance control algorithm to determine the desired pose at the next moment based on the first total driving force, and controls its own movement based on the desired pose. The step of determining the first virtual force to guide its own movement based on the second position increment, its initial position, and its current position includes: The desired position is determined based on the second position increment and the initial position; Determine the position error based on the desired position and the current position; The first virtual force is determined based on the position error and the preset virtual stiffness parameters; The step of the robot using an admittance control algorithm to determine the desired pose at the next moment based on the first total driving force includes: The current admittance parameter is determined based on the position error and the initial admittance parameter corresponding to the admittance control algorithm. Based on the current admittance parameters and the first total driving force, determine the desired pose at the next moment; Determining the current admittance parameter based on the position error and the initial admittance parameter corresponding to the admittance control algorithm includes: The current stiffness coefficient is determined based on the position error, the initial stiffness coefficient in the initial admittance parameters, and the preset stiffness gain. The current damping coefficient is determined based on the position error, the initial damping coefficient in the initial admittance parameters, and the preset damping gain. The current virtual mass coefficient is determined based on the position error, the initial virtual mass coefficient in the initial admittance parameters, and the preset virtual mass gain.

2. The method according to claim 1, characterized in that, After determining the first total driving force that drives its own motion, the method further includes: The robot feeds back the first total driving force to the master device; The main device scales the first total driving force and feeds it back to the user so that the user can feel the first total driving force and adjust their remote control operation based on the first total driving force.

3. The method according to claim 1, characterized in that, The method further includes: When the robot detects that it has reached the physical boundary, it sends a notification message to the master device. After receiving the notification message, the master device sends a control command to the slave robot to instruct the slave robot to move at a specified speed. The robot calculates a second virtual force to guide its own movement based on the specified speed; The robot determines a second total driving force to drive its own movement based on the current interactive force collected by the force sensor and the second virtual force. The robot determines its desired pose for the next moment based on the second total driving force, and controls its own movement based on the desired pose.

4. The method according to claim 1, characterized in that, The method further includes: When the robot detects that it has reached the physical boundary, it sends a notification message to the master device. After receiving the notification message, the master device sends a control command to the slave robot to pause movement and notifies the user of the notification message so that the user can control the master device to move and reset the master device's origin. After resetting its own origin, the master device updates the control reference system so that subsequent operations can be controlled based on the new origin.

5. A master-slave remote operating system, characterized in that, The master-slave teleoperation system includes a master device and a slave robot, and a force sensor is installed on the end effector of the slave robot; The master device is used to respond to the user's remote control operation, obtain its own first position increment, and send the first position increment to the slave robot; The robot is configured to determine its own second position increment based on the first position increment, and to determine a first virtual force for guiding its own movement based on the second position increment, its own initial position, and its own current position. The robot is further configured to determine a first total driving force for its own movement based on the current interactive force collected by the force sensor and the first virtual force. The robot is also used to determine the desired pose at the next moment based on the first total driving force using an admittance control algorithm, and to control its own movement based on the desired pose. The step of determining the first virtual force to guide its own movement based on the second position increment, its initial position, and its current position includes: The desired position is determined based on the second position increment and the initial position; Determine the position error based on the desired position and the current position; The first virtual force is determined based on the position error and the preset virtual stiffness parameters; The step of the robot using an admittance control algorithm to determine the desired pose at the next moment based on the first total driving force includes: The current admittance parameter is determined based on the position error and the initial admittance parameter corresponding to the admittance control algorithm. Based on the current admittance parameters and the first total driving force, determine the desired pose at the next moment; Determining the current admittance parameter based on the position error and the initial admittance parameter corresponding to the admittance control algorithm includes: The current stiffness coefficient is determined based on the position error, the initial stiffness coefficient in the initial admittance parameters, and the preset stiffness gain. The current damping coefficient is determined based on the position error, the initial damping coefficient in the initial admittance parameters, and the preset damping gain. The current virtual mass coefficient is determined based on the position error, the initial virtual mass coefficient in the initial admittance parameters, and the preset virtual mass gain.

6. The master-slave teleoperation system according to claim 5, characterized in that, The slave robot is also used to feed back the first total driving force to the master device; The main device is also used to scale the first total driving force and feed it back to the user so that the user can feel the first total driving force and adjust their remote control operation based on the first total driving force.

7. The master-slave teleoperation system according to claim 5, characterized in that, The slave robot is also used to send a notification message to the master device when it detects that it has reached the physical boundary; The master device is also configured to send a control command to the slave robot after receiving the notification message, instructing the slave robot to move at a specified speed; The robot is also configured to calculate a second virtual force for guiding its own movement based on the specified speed; The robot is further configured to determine a second total driving force for its own movement based on the current interactive force collected by the force sensor and the second virtual force. The robot is further configured to determine the desired pose at the next moment based on the second total driving force, and control its own movement based on the desired pose.

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