Robot remote control system and method

Abstract

The present disclosure provides a robot teleoperation system including a master robot, a slave robot, and a control system configured to cause the slave robot to follow a movement of the master robot, wherein the control system is configured to determine a coefficient K and to determine a control force F to be output by the slave robot at a selected point based on the coefficient K and a displacement error between a reference point on the master robot and a selected point on the slave robot corresponding to the reference point.

Description

[Technical Field]

[0001] The present disclosure relates to the field of robotics, and more particularly to robotic teleoperation systems and methods. [Background technology]

[0002] With the development of technology, robots have been widely used in various fields and come in various types and structures. For example, an articulated robot has multiple rotatable joints so that it can operate within a certain spatial range.

[0003] Control of the robot can be achieved by teleoperation. In one embodiment, a manually operated master robot is required, and slave robots are configured to follow the master robot's movements. In one application scenario, the robot is taught to perform an action by robot teleoperation and is programmed based on data generated during teaching. Teaching generates operational instructions that the robot can automatically execute. In other applications where the environment is very complex or where automatic operation and programming of the robot is difficult, the robot can be teleoperated to perform actions in complex environments.

[0004] In conventional remote control of robots, communication problems or environmental reasons can cause the slave robot to move unintentionally or the operator to overdrive it, which can result in excessive contact force between the slave robot and the workpiece or obstacle, potentially damaging the workpiece or robot. Summary of the Invention

[0005] One aspect of the present disclosure provides a robot teleoperation system including a master robot, a slave robot, and a control system configured to cause the slave robot to follow a movement of the master robot, wherein the control system is further configured to determine a coefficient K and to determine a control force F to be output by the slave robot at the selected point based on the coefficient K and a displacement error between a reference point on the master robot and a selected point on the slave robot corresponding to the reference point.

[0006] Another aspect of the present disclosure is a robot teleoperation method including the steps of acquiring a displacement of a reference point on a master robot and a displacement of a selected point on a slave robot corresponding to the reference point; determining a coefficient K, and determining a control force F to be output by the slave robot at the selected point based on the coefficient K and a displacement error between the displacement of the reference point and the displacement of the selected point.

[0007] Yet another aspect of the present disclosure provides a computer device including a memory having a computer program stored therein, and a processor, the computer program causing the processor to perform each step of the robot teleoperation method when executed by the processor.

[0008] Yet another aspect of the present disclosure provides a readable storage medium having stored thereon a computer program that, when executed by a processor, causes the processor to perform each step of the robot teleoperation method described above.

[0009] The details of one or more embodiments of the disclosure are set forth in the drawings and description that follow. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims.

[0010] These and other objects, features and advantages of the present invention will become apparent from the following description of specific embodiments of the invention, which are illustrated in the drawings, which are not to scale, emphasis instead being placed upon illustrating the principles of the invention. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram of a robotic teleoperation system according to one embodiment of the present disclosure. [Figure 2] FIG. 1 is a configuration diagram of a robot remote control system according to an embodiment of the present disclosure. [Figure 3] 2 is a schematic diagram showing that the displacement of a selected point deviates from the displacement of a reference point in the robot teleoperation system of the embodiment shown in FIG. 1. FIG. [Figure 4] 1 is a flowchart of a robot teleoperation method according to an embodiment of the present disclosure. [Figure 5] FIG. 1 is a configuration diagram of a computer device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] To make the above objects, features, and advantages of the present application clearer and more easily understood, the following detailed description of the present disclosure is provided with reference to the accompanying drawings. In order to provide a thorough understanding of the present application, numerous specific details are set forth in the following description. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the present application, and therefore the present application is not limited by the specific embodiments disclosed below.

[0013] The present application provides a robot teleoperation system including a master robot, a slave robot, and a control system configured to cause the slave robot to follow the movement of the master robot, and configured to determine a coefficient K and a control force F to be output by the slave robot at a selected point based on the coefficient K and a displacement error between a reference point on the master robot and a selected point on the slave robot corresponding to the reference point.

[0014] In the robot teleoperation system of the present application, a reference point and a selected point are set at corresponding positions on the master robot and the slave robot, respectively, and a control force F to be output by the slave robot at the selected point is determined based on a coefficient K and the displacement error between the displacement of the selected point and the displacement of the reference point. In some application scenarios, excessive control force can be prevented from damaging parts of the slave robot or external objects such as workpieces or obstacles.

[0015] FIG. 1 is a schematic diagram of a robot teleoperation system according to an embodiment of the present disclosure, and FIG. 2 is a configuration diagram of the robot teleoperation system according to an embodiment of the present disclosure. Referring to FIGS. 1 and 2, the robot teleoperation system 10 includes a master robot 20, a slave robot 30, and a control system 40 communicatively connected to the master robot 20 and the slave robot 30. The control system 40 may be the same as the control device of the master robot 20 or the control device of the slave robot 30, or may be an independent control system different from the control system of the robot itself. Furthermore, the control system 40 may be installed inside the master robot 20 or the slave robot 30, or may be separate from the master robot 20 or the slave robot 30 so as to remotely operate the robots.

[0016] The master robot 20 and the slave robot 30 may have the same structure. Taking the slave robot 30 as an example, the slave robot 30 includes a slave end effector 31 and a plurality of arms 32 connected in series, with the end effector 31 located at the end of the arms 32 connected in series. A plurality of joints 33 are formed between adjacent arms 32 and between the arms 32 and the slave end effector 31, and each joint 33 includes an actuator 34, such as an electric motor, for driving the arm 32 or the slave end effector 31. The plurality of joints 33 enables the slave end effector 31 to move with multiple degrees of freedom.

[0017] In one embodiment, the control system 40 calculates a component F of the control force F at a selected point. ext is a given threshold F lim It is configured to determine the coefficient K so that: ext includes a component of the control force F for balancing the contact force between the slave robot 30 and an external object, and another component of the control force F for driving the slave robot 30 to follow the movement of the master robot 20.

[0018] In one embodiment, the control system 40 controls the component F ext is a given threshold F lim If it is less than 0, the coefficient K is maintained at a predetermined value K0, and the component F ext is a given threshold F lim When the value reaches ext is a given threshold F lim It is further configured to adjust the coefficient K so that:

[0019] In one embodiment, the control system 40 controls the component F ext is a given threshold F lim When the value reaches ext is a given threshold F lim It is further configured to adjust a factor K based on the displacement error so that:

[0020] In one embodiment, the control system 40 provides a virtual mechanical impedance system 50 between the master robot 20 and the slave robot 30 to enable the master robot 20 to control the slave robot 30, thereby enabling remote operation of the slave robot 30. Note that the virtual mechanical impedance system 50 is not physical hardware but simply a computer-based control model logically similar to a physical mechanical impedance system, and is used in the present disclosure to calculate and determine the forces and torques to be applied to the slave robot 30. When the master robot 20 moves under the manual control of an operator, the control system 40 is configured to cause the slave robot 30 to follow the movement of the master robot 20. Specifically, the control system 40, in conjunction with the virtual mechanical impedance system 50, generates instructions for controlling the movement of the slave robot 30 based on related parameters generated in response to the movement of the master robot 20, and controls the movement of the slave robot 30 based on the instructions, i.e., to maintain the same posture and position as the master robot 20.

[0021] It should be understood that the virtual mechanical impedance system 50 may be pre-installed in the control system 40 or may be created and adjusted in real time during teleoperation of the slave robot 30 based on relevant parameters.

[0022] In this embodiment, the reference point and the selected point are corresponding points on the master end-effector 21 of the master robot 20 and the slave end-effector 31 of the slave robot 30, respectively. It should be understood that in other embodiments, the reference point and the selected point may be set on other components of the robot as desired. Application of the virtual mechanical impedance system 50 of the present disclosure will be described in detail below with reference to specific embodiments.

[0023] The dynamic equation of the slave end effector 31 in Cartesian space is as follows:

number

[0024] x is the displacement of the slave end effector 31 (e.g., relative to the tool center point TCP),

number

number

number

number

[0025] If the slave robot does not follow the master robot's motion, the component F ext It should be understood that F only includes the equivalent external force acting on the slave end-effector 31 when the slave robot 30 is in contact with an external object. When the slave end-effector 31 moves in space, whether it comes into contact with a workpiece or an obstacle, an external force is generated on the slave end-effector 31, i.e., a contact force between the slave end-effector 31 and the workpiece or obstacle. If the external force is too large, damage to the slave end-effector 31, the workpiece, or the obstacle may occur. Therefore, the control force F on the slave end-effector 31 needs to be well controlled so as to keep the external force acting on the slave end-effector 31 within a safe range.

[0026] It should be understood that a control force or external force "at a selected point" or "on a selected point" in this disclosure refers to a force equivalent to the control force or external force output by the slave robot at the selected point.

[0027] In some embodiments, to implement the virtual mechanical impedance system 50, the control system 40 is further configured to dynamically determine the coefficient K and determine the control force F based on the coefficient K and the displacement error between the master end-effector 21 and the slave end-effector 31. In one embodiment, the control system 40 actively generates the control force F based on the following condition:

number

[0028]

number

number

number

number

number

number

[0029] It should be understood that in some embodiments, the coefficient K and the virtual damping coefficient D are each matrices of coefficients in Cartesian space.

[0030] In theory, the selected point is expected to follow the movement of the reference point exactly, so the displacement of the reference point is also the expected displacement of the selected point. d can be measured by various displacement sensors or can be obtained from other control parameters. For example, the amount of rotation of each joint of the robot can be calculated based on data from motor encoders, so that the displacement of the robot end effector can be obtained based on the kinematic relationship of the robot. The control system 40 can calculate, for example, the displacement x of a point selected from the above-mentioned displacement sensors and the displacement x of a reference point. d In one embodiment, the displacement x of the selected point and the displacement x of the reference point are obtained. d are vector parameters including both the distance and direction of movement, and represent the position and orientation of the master end effector 21 or the slave end effector 31, respectively.

[0031] The component K(x d -x) corresponds to the virtual spring 51 of the virtual mechanical impedance system 50, and K is also called the virtual spring coefficient. As the deformation of this virtual spring increases, the elastic force generated by the virtual spring also increases accordingly.

number

[0032] According to the formulas (1) and (2), the formula (3) is obtained.

number

[0033] x e is x d is the error between x and

number

number

number

number

[0034] By introducing the virtual mechanical impedance system 50, the component F calculated according to equation (3) ext contains the equivalent force generated by two types of forces at a selected point on the slave robot 30: a component of the control force F to balance the contact force between the slave robot 30 and an external object, and another component of the control force F to drive the slave robot 30 to follow the movement of the master robot 20.

[0035] In one embodiment, the control system 40 controls the component F ext a given threshold F lim The displacement error x is maintained as follows: eand further configured to adjust the coefficient K based on changes in

[0036] Referring to FIG. 3, when the slave end-effector 31 is stationary and in contact with an external object, and the master end-effector 21 is moving at a constant speed,

number

number

number

[0037] When the master end-effector 21 and the slave end-effector 31 are further in a steady state, i.e., both are stationary or moving synchronously at a constant speed,

number

number

[0038] In this case, by adjusting the coefficient K, the component F ext a given threshold F lim It can be seen that the following can be maintained, thereby ensuring that no damage is done to the slave end effector 31 or to external objects such as workpieces or obstacles.

[0039] In one embodiment, the coefficient K of the virtual mechanical impedance system 50 is ext is a given threshold F limWhen the slave end effector 31 starts to come into contact with an external object, the slave end effector 31 stops moving because it is stopped, and therefore the displacement x of the reference point d As gradually increases, the displacement error x e gradually increases. According to equation (3), the control force F also increases continuously. During this period, the component F ext can be continuously calculated or monitored, for example, by detection by contact force and / or torque sensors located on the slave end effector 31, or by estimation from measured joint torques, or by calculation according to equation (3) above.

[0040] Ingredient F ext is a given threshold F lim When the value reaches ext The coefficient K is adjusted based on the displacement error so as to maintain x below a predetermined threshold. For example, during this period, a closed-loop control method is employed to reduce the displacement error x e As F continues to increase, the coefficient K can be adjusted to decrease, which corresponds to gradually "softening" the virtual spring. ext The closed-loop control method of (1) can be realized by a general method, and therefore will not be described in this disclosure.

[0041] The term "below threshold" in this disclosure means that under normal circumstances, ext This means that the component F can be substantially maintained below a predetermined threshold. ext It should be understood that this does not exclude a situation where the component F appears above a predetermined threshold for a short time or accidentally. For example, the component F may be delayed due to communication delays, calculation delays, etc. ext There may be a situation where the value oscillates at a certain threshold.

[0042] There may also be a situation where the slave end effector 31 is in dynamic contact with an external object, i.e., the slave end effector 31 changes during contact. In the case of dynamic contact, according to equation (3),

number

number

[0043] In one embodiment, the coefficient K is not changed, in which case equation (3) yields equation (6).

number

[0044] F ext (K0) is the component F obtained using K0 as a coefficient ext represents the calculated value of

[0045] Ingredient F ext is a given threshold F lim Before reaching F ext (K0) represents the true component of the control force for balancing the contact force between the slave robot 30 and an external object and for driving the slave robot 30 to follow the movement of the master robot 20, and F ext (K0) is a predetermined threshold F lim If it is greater than F ext It should be understood that (K0) is only a fictitious value used to calculate the coefficient K required in the actual control process.

[0046] In one embodiment, component F ext is a given threshold F lim When the value reaches ext a given threshold F limIn this case, the coefficient K satisfies the following formula:

number

[0047] Equation (8) can be obtained by further modifying equation (7).

number

[0048] Furthermore, equation (9) is obtained from equations (6) and (7).

number

[0049] When the slave end effector 31 is in a dynamic state, the coefficient K is ext is a given threshold F lim It can be seen that it can be determined by equation (8) or equation (9) so that

[0050] When the slave end effector 31 is in a stationary state, equation (9) can be simplified to equation (10).

number

[0051] This means that even when the slave end effector 31 is at rest, the component F ext is a given threshold F lim It is shown that the coefficient K can be determined by equation (10) so that

[0052] According to the above-described embodiment, component F ext is a given threshold F lim An initial coefficient K0 is used to adjust the control force F before reaching the component F ext is a given threshold F lim When the value reaches ext is a given threshold F limIn another embodiment, the coefficient K is adjusted according to equations (8) and (9) so that the component F can be stabilized at ext a given threshold F lim It should be understood that the coefficient K can be determined directly based on equations (8) and (9) for the purpose of maintaining

[0053] In one embodiment, the control system 40 controls the component F ext The control system 40 is configured to control at least one actuator of the master robot 20 to provide haptic feedback to the worker based on the external force F. When a component of the slave robot 30, such as the slave end-effector 31, comes into contact with an external object, an external force is generated on the slave end-effector 31. This external force can be detected by a force sensor located at the tip of the slave end-effector 31 or calculated using joint torque. The control system 40 is configured to feed back this external force to the worker, for example, so that the worker can intuitively sense the presence and changes of the external force when operating the master end-effector 21 of the master robot 20 and adjust the operation of the master robot 20 accordingly. For example, if the worker feels that the external force is too large, the worker can slow down the speed of the master robot 20 or stop operating the master robot 20 to prevent an accident such as damage. Furthermore, if the displacement error between the slave robot 30 and the master robot 20 is large, the worker can use the aforementioned component F to ext The calculation of σ allows the slave robot 30 to intuitively sense the inertial forces it must overcome to follow the movements of the master robot 20, and to adjust its operation accordingly (e.g., slowing down the movements of the master robot 20).

[0054] In some embodiments, the control force F applied to the slave end effector 31 comprises a combined drive force on the slave end effector 31 generated by at least one actuator of the joint. In other embodiments, the control force F comprises a drive force on the slave end effector 31 generated by an actuator that directly drives the slave end effector 30.

[0055] In some embodiments, the control system 40 is configured to continuously calculate and adjust the control force F at a predetermined frequency. The higher the predetermined frequency, the more responsive the slave robot 30 will be to the movements of the master robot 20, while the more accurate the control force F will be.

[0056] According to the embodiment described above, the control system 40 configures the control force F according to equation (2) so that the control force F includes a virtual spring component and a virtual damper component. In other embodiments, the control force F may include only the virtual spring component, or may include a combination of the virtual spring component and other components, such that the component F applied to the slave robot 31 can be adjusted by adjusting the coefficient K. ext It should be understood that control of the

[0057] The present disclosure provides a robot teleoperation method, and the robot teleoperation method will be described below with reference to the teleoperation systems according to the various embodiments described above.

[0058] As shown in FIG. 4, the robot remote control method of the present disclosure includes the following steps.

[0059] In S1, the displacement of a selected point on the master robot and the displacement of a selected point on the slave robot corresponding to the reference point are obtained.

[0060] In S2, a coefficient K is determined, and a control force F to be output by the slave robot at the selected point is determined based on the coefficient K and the displacement error between the reference point on the master robot and the selected point on the slave robot.

[0061] In one embodiment, the control system 40 calculates a component F of the control force F at a selected point. ext is a given threshold F lim It is configured to determine the coefficient K so that: ext includes a component of the control force F for balancing the contact force between the slave robot and an external object, and another component of the control force F for driving the slave robot 30 to follow the movement of the master robot.

[0062] In one embodiment, the control system 40 controls the component F ext is a given threshold F lim If it is less than 0, the coefficient K is maintained at a predetermined value K0, and the component F ext is a given threshold F lim When the value reaches ext is a given threshold F lim It is further configured to adjust the coefficient K so that:

[0063] In one embodiment, the control system 40 controls the component F ext is a given threshold F lim When the value reaches ext is a given threshold F lim It is further configured to adjust a factor K based on the displacement error so that:

[0064] In one embodiment, determining the control force F output by the slave robot 30 at the selected point includes establishing a virtual impedance control relationship between the master robot 20 and the slave robot 30, determining the control force F based on equation (2) above, and determining the component F based on equation (3) above. ext and determining:

[0065] In one embodiment, the component F of the control force F at the selected point ext is a given threshold F lim Determining the coefficient K so that the component F ext is a given threshold F limIf it is less than 0, maintaining the coefficient K at a predetermined value K0 and ext is a given threshold F lim and adjusting the coefficient K based on equation s(8) above or equation (9) above when K<K<K is reached.

[0066] In one embodiment, when the slave robot 30 is in a steady state, the coefficient K is determined based on equation (10) above.

[0067] In one embodiment, the method further comprises the step of: ext The method further includes controlling an actuator of the master robot 20 to provide haptic feedback to the worker based on the detected motion.

[0068] In one embodiment, the selected point is located on the slave end-effector 31 of the slave robot 30 and the reference point is located on the master end-effector 21 of the master robot 20.

[0069] In one embodiment, the control force F comprises a combined drive force generated by at least one actuator of a joint of the slave robot 30 and applied to the slave end effector 31.

[0070] In one embodiment, the method further includes continuously calculating and adjusting the control force F at a predetermined frequency.

[0071] The present disclosure further provides a computer device, which may be the above-mentioned control system 40, the configuration of which is shown in FIG. 5. The computer device includes a processor, a memory, a communication interface, a display, and an input device, all connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and a random access memory (RAM). The non-volatile storage medium stores an operation system and a computer program. The RAM provides an environment for the operation of the operation system and the computer program stored in the non-volatile storage medium. The communication interface of the computer device is used for wired or wireless communication with an external terminal. Wireless communication can be achieved by Wi-Fi (registered trademark), an operator network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it causes the processor to perform the steps of the above-mentioned robot teleoperation method, which includes the following steps:

[0072] In S1, the displacement of a reference point on the master robot and the displacement of a selected point on the slave robot corresponding to the reference point are obtained.

[0073] In S2, a coefficient K is determined, and a control force to be output by the slave robot at the selected point is determined based on the coefficient K and the displacement error between the reference point on the master robot and the selected point on the slave robot.

[0074] In other embodiments, other steps that can be performed when the computer program is executed by the processor and further features related to the steps may refer to the above description of the robot teleoperation method of various embodiments, but will not be described in this specification.

[0075] It should be understood by those skilled in the art that the structure illustrated in Figure 5 is merely a block diagram and is not intended to limit the computing device of the present disclosure. A computing device may include more or fewer components than shown, or may have a different arrangement of components.

[0076] The present disclosure further provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the processor to perform the steps of the robot teleoperation method described above, and includes the following steps:

[0077] In S1, the displacement of a reference point on the master robot and the displacement of a selected point on the slave robot corresponding to the reference point are obtained.

[0078] In S2, a coefficient K is determined, and a control force F to be output by the slave robot at the selected point is determined based on the coefficient K and the displacement error between the reference point on the master robot and the selected point on the slave robot.

[0079] In other embodiments, other steps that can be performed when the computer program is executed by the processor and further features related to the steps may refer to the above description of the robot teleoperation method of various embodiments, but will not be described in this specification.

[0080] Those skilled in the art should understand that all or part of the processes in the above-described method embodiments can be realized by instructing relevant hardware via a computer program. The computer program may be stored in a non-volatile readable storage medium, and when the computer program is executed, processes such as those in the above-described method embodiments are performed. Any reference to memory, storage, database, or other medium used in the embodiments provided in this disclosure includes at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory. Volatile memory may include random access memory (RAM) or external cache memory. As non-limiting examples, RAM may include static random access memory (SRAM) or dynamic random access memory (DRAM). The technical features of the above-described embodiments may be combined in any manner. It should be noted that, for the sake of brevity, not all possible combinations of the technical features of the above-described embodiments have been described, and as long as combinations of these technical features are not contradictory, they should be considered within the scope of this specification.

[0081] The above-described technical features related to each embodiment can be combined in any manner, and for the sake of brevity, not all possible combinations of the technical features in the above-described embodiments have been described, and combinations of the technical features should be considered within the scope of this specification as long as they do not conflict with each other.

[0082] The above-described embodiments merely illustrate some embodiments of the present application, and although the description is specific and detailed, it should not be construed as limiting the scope of protection of the invention. Those skilled in the art may make minor modifications and improvements without departing from the spirit of the present application, and all of these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined in accordance with the claims. [Explanation of symbols]

[0083] 10 Robot teleoperation system, 20 Master robot, 21 Master end effector, 30 Slave robot, 31 Slave end effector, 40 Control system

Claims

1. A robot remote control system, A master robot and Slave robots and a control system that causes the slave robot to follow the movement of the master robot; The control system further comprises: a coefficient K; and a control force F to be output by the slave robot at the selected point based on the coefficient K and a displacement error between a reference point on the master robot and a selected point on the slave robot corresponding to the reference point.

2. The control system calculates a component F of the control force F at the selected point. ｅｘｔ is a predetermined threshold F ｌｉｍ The coefficient K is determined so that: Component F ｅｘｔ includes a component of the control force F for balancing a contact force between the slave robot and an external object, and another component of the control force F for driving the slave robot to follow the movement of the master robot.

3. The control system further comprises: Component F ｅｘｔ is the predetermined threshold F ｌｉｍ If it is less than the predetermined value K ０ Maintaining Component F ｅｘｔ is the predetermined threshold F ｌｉｍ When the value reaches ｅｘｔ is the predetermined threshold F ｌｉｍ The robot teleoperation system of claim 2 , configured to adjust the coefficient K so that:

4. The control system further comprises: Component F ｅｘｔ is the predetermined threshold F ｌｉｍ When the displacement error reaches ｅｘｔ is the predetermined threshold F ｌｉｍ The robot teleoperation system of claim 3 , configured to adjust the coefficient K so that:

5. The control system is further configured to establish a virtual impedance control relationship between the master robot and the slave robot and determine the control force F according to the following equation (1), wherein the component F ｅｘｔ The robot teleoperation system according to claim 2, wherein is determined based on the following formula (2): [Equation 1] is the inertia matrix of the slave robot at the selected point based on a dynamics model of the slave robot, [Equation 2] are centrifugal and Coriolis force matrices of the slave robot at the selected point based on a dynamics model of the slave robot, [Equation 3] is the gravity matrix of the slave robot at the selected point based on the dynamics model of the slave robot, and x ｄ is the displacement of the reference point, x is the displacement of the selected point, [Equation 4] is x ｄ is the first derivative of [Equation 5] is the first derivative of x, [Equation 6] is the second derivative of x, D is the virtual damping coefficient, x ｅ is x ｄ is the error between x and [Equation 7] teeth, [Equation 8] and [Equation 9] This is the error between [Equation 10] is x ｄ is the error between the second derivative of x and the second derivative of x.

6. The control system further comprises: Component F ｅｘｔ is the predetermined threshold F ｌｉｍ If it is less than the predetermined value K ０ Maintaining Component F ｅｘｔ is the predetermined threshold F ｌｉｍ The robot teleoperation system according to claim 5, wherein the system is configured to determine the coefficient K based on any of the following equations when [0011] or [0012] F ｅｘｔ (K ０ ) is K ０ The component F when equal to ｅｘｔ is the calculated value.

7. The control system further comprises: The robot teleoperation system according to claim 6 , configured to determine the coefficient K by the following formula when the slave robot is in a stationary state: [0013]

8. The control system controls the component F ｅｘｔ 3. The robot teleoperation system according to claim 2, wherein the system is configured to control an actuator of the master robot so as to provide haptic feedback to an operator operating the master robot based on the above.

9. The robot teleoperation system of claim 1 , wherein the selected point is located on a slave end effector of the slave robot and the reference point is located on a master end effector of the master robot.

10. The robotic teleoperation system of claim 1 , wherein the control system is configured to continuously calculate and adjust the control force F at a predetermined frequency.

11. A robot remote control method, comprising: obtaining a displacement of a reference point on the master robot and a displacement of a selected point on the slave robot corresponding to said reference point; determining a coefficient K; and determining a control force F to be output by the slave robot at the selected point based on the coefficient K and a displacement error between the displacement of the reference point and the displacement of the selected point.

12. The step of determining the control force F to be output by the slave robot at the selected point comprises determining a component F of the control force F at the selected point. ｅｘｔ is a predetermined threshold F ｌｉｍ determining the coefficient K such that: Component F ｅｘｔ includes a component of the control force F for balancing contact forces between the slave robot and an external object, and another component of the control force F for driving the slave robot to follow the motion of the master robot.

13. The step of determining the control force F to be output by the slave robot at the selected point comprises: Component F ｅｘｔ is the predetermined threshold F ｌｉｍ If it is less than the predetermined value K ０ and maintaining Component F ｅｘｔ is the predetermined threshold F ｌｉｍ When the value reaches ｅｘｔ is the predetermined threshold F ｌｉｍ and adjusting the coefficient K so that:

14. Component F ｅｘｔ is the predetermined threshold F ｌｉｍ the step of adjusting the coefficient K when The method of claim 13 including adjusting the coefficient K based on the displacement error.

15. The step of determining the control force F output by the slave robot at the selected point includes establishing a virtual impedance control relationship between the master robot and the slave robot, determining the control force F according to the following equation (1), and determining the component F ｅｘｔ The method of claim 12, wherein is determined based on the following formula (2): [0014] is the inertia matrix of the slave robot at the selected point based on a dynamics model of the slave robot, [Equation 15] are centrifugal and Coriolis force matrices of the slave robot at the selected point based on a dynamics model of the slave robot, [0016] is the gravity matrix of the slave robot at the selected point based on a dynamics model of the slave robot, x is the displacement of the selected point, [Equation 17] is x ｄ is the first derivative of [Equation 18] is the first derivative of x, [Equation 19] is the second derivative of x, D is the virtual damping coefficient, x ｅ is x ｄ is the error between x and [Equation 20] teeth, [0000] and [Equation 22] This is the error between [Equation 23] is x ｄ is the error between the second derivative of x and the second derivative of x.

16. The step of determining the coefficient K comprises: Component F ｅｘｔ is the predetermined threshold F ｌｉｍ If it is less than the predetermined value K ０ and maintaining Component F ｅｘｔ is the predetermined threshold F ｌｉｍ and adjusting the coefficient K based on any of the following equations if K=K / K+ ... [0000] Or, [Equation 25] F ｅｘｔ (K ０ ) is K ０ The component F when equal to ｅｘｔ is the calculated value.

17. Component F ｅｘｔ is the predetermined threshold F ｌｉｍ the step of adjusting the coefficient K when 17. The method of claim 16, comprising determining the coefficient K when the slave robot is stationary according to the following formula: [Equation 26]

18. Component F ｅｘｔ 13. The method of claim 12, further comprising controlling an actuator of the master robot to provide haptic feedback to an operator operating the master robot based on the

19. The method of claim 11 , wherein the selected point is located on a slave end effector of the slave robot and the reference point is located on a master end effector of the master robot.

20. The method of claim 11 further comprising the step of continuously calculating and adjusting the control force F at a predetermined frequency.

21. 1. A computer device comprising: A computer apparatus comprising: a memory in which a computer program is stored; and a processor, the computer program, when executed by the processor, causing the processor to perform the steps of the method according to any one of claims 11 to 20.

22. A readable storage medium on which a computer program is stored, A readable storage medium, the computer program being capable of causing a processor to perform the steps of the method according to any one of claims 11 to 20 when the computer program is executed by the processor.

Images