11702 results about "Manipulator" patented technology

The invention discloses a manipulator grabbing planning system and method based on visual identification, and relates to the technical field of robots, the manipulator grabbing planning system comprises a visual perception module, a coordinate conversion module, a motion planning module, a control execution module, a tail end perception module and a system integration and communication module; the visual perception module realizes multi-view target detection, semantic segmentation and three-dimensional pose estimation through a binocular depth camera; the coordinate conversion module is used for converting a target pose under a camera coordinate system into a world coordinate under a mechanical arm base coordinate system; the motion planning module is responsible for generating a mechanical arm grabbing path, optimizing a strategy and supporting generalization migration of a multi-form mechanical arm; the control execution module drives the six-axis cooperative mechanical arm to complete the grabbing action, and vision-force mixed feedback closed-loop control is achieved. The tail end sensing module monitors the grabbing state in real time through a touch sensor and dynamically adjusts a grabbing strategy; and the system integration and communication module is used for realizing real-time data interaction and cooperative work among the modules of the system.

A computer-generated virtual object manipulator having one or more affordances for manipulating a computer-generated virtual object is disclosed. Selection of a virtual object can cause an object manipulator to be displayed over the virtual object. The object manipulator can include a cone-shaped single-axis translation affordance for each of one or more object axes, a disc-shaped single-axis scale affordance for each of the one or more object axes, an arc-shaped rotation affordance for rotation about each of the one or more object axes, and a center of object affordance for free space movement of the virtual object. The object manipulator can also include a slice-shaped two-axis translation affordance that can be displayed after hovering over an area in a particular plane.

The invention discloses a manipulator grabbing method based on deep learning target detection and image segmentation, and relates to the technical field of artificial intelligence and robotics.The manipulator grabbing method comprises the following steps that a scene image to be processed is collected, the image quality is improved through the multi-light-source fusion image enhancement technology, and recognition errors caused by uneven illumination are reduced; and inputting the enhanced image to a pre-trained deep learning model, executing a target detection task, and outputting an initial bounding box and a category label of the target object. According to the method, through multi-light-source image enhancement and high-precision image segmentation, the accuracy of target recognition and contour extraction is remarkably improved, and the capture failure rate caused by image misjudgment is reduced. And meanwhile, geometric consistency verification and a multi-factor grabbing scoring mechanism are introduced, dynamic screening and collision pre-detection are conducted on the paths, the grabbing stability and safety of the mechanical arm in the complex environment are effectively guaranteed, and the intelligence and robustness of the whole system are remarkably improved.

The invention provides a clamping force correction method and system based on an oil-tea tree branch clamping manipulator and a storage medium, and relates to the technical field of mechanization and automation, and the method comprises the steps of monitoring and analyzing oil-tea tree branches, an operation environment and a manipulator motion state, collecting key parameters, generating a clamping adaptability index and a clamping stability index, and correcting the clamping force of the oil-tea tree branches; the clamping adaptability index and the clamping stability index are combined, and a clamping control index is calculated; constructing a deep learning model, taking the historical key parameters as a training set, taking the corresponding historical manipulator clamping force as a label, training the model to obtain a clamping force prediction model, inputting the key parameters collected in real time into the model, outputting the predicted clamping force, combining the predicted clamping force with a clamping control index, and calculating the final clamping force. On the basis of obtaining key parameters in real time, the clamping adaptability index and the clamping stability index are generated, then the clamping control index is calculated, and the purpose of dynamically adjusting the clamping force is achieved.

The invention belongs to the technical field of robot control, and particularly relates to a mechanical arm RBF network dynamic self-adaptive control method under the constraint of a time-varying mechanism, which comprises the following steps of: constructing a mechanical arm dynamic model, determining a system specified time convergence standard, combining a joint motion reference trajectory of a mechanical arm, defining a trajectory tracking error, and determining a mechanical arm dynamic model based on a dynamic nominal model. Constructing a stable robust control law of the nominal dynamical model under the specified time; and selecting a radial basis function, and designing an RBF network adaptive control law in a specified time to dynamically fit a comprehensive nonlinear disturbance term in the system. The problem that the convergence time of a traditional method is uncontrollable is solved, the RBF neural network is adopted to dynamically approach comprehensive disturbance, the network weight is updated online through the adaptive law of the time-varying gain, the anti-jamming capability is remarkably improved, a model driving method and a data driving method are combined, and the convergence time of the model driving method and the convergence time of the data driving method are greatly improved through a dynamic model decoupling and feedforward compensation strategy. And more accurate and low-delay trajectory tracking control is realized.

The disclosure provides a method and system for trajectory tracking control of a vehicle-manipulator coupling system with finite time prescribed performance. Specifically, a coupling weaken trajectory planning method is designed to reduce the system's coupling effects. A finite time performance function is designed to constrain the trajectory tracking error. In a case the constraint conditions corresponding to the finite time performance function are satisfied, the trajectory tracking error is converted to obtain a transformed error. The sliding mode surface is designed based on the transformed error to control the transformed error to converge in a finite time, and the external disturbance of the vehicle-manipulator coupling system is observed based on non-linear disturbance observer. The control input of the vehicle-manipulator coupling system is designed based on the sliding mode surface and the non-linear disturbance observer output. This ensures that the vehicle-manipulator coupling system can operate precisely along the desired trajectory.

Some examples of the disclosure are directed to object manipulators and associated processes for manipulating an object representation in a three-dimensional environment. The object representation may correspond to a scan of a real-world object in a real-world environment. The object manipulators may include an object cleanup manipulator and a text annotation manipulator. The object cleanup manipulator may be selectable to display one or more control affordances providing functionality for selectively removing portions of the object representation in the three-dimensional environment and / or selectively adjusting one or more parameters of the object representation in the three-dimensional environment. The text annotation manipulator may be selectable to display one or more control affordances providing functionality for selectively generating one or more text labels in the three-dimensional environment. The one or more text labels may be associated with the object representation in the three-dimensional environment.

The present invention belongs to the technical field of coal mine drilling rigs, and relates to an intelligent directional coal mine drilling rig and a drilling method thereof. The intelligent directional coal mine drilling rig comprises a moving platform, a frame, a clamping device, a main manipulator, a power head, a drill pipe storage system, a control system and a hydraulic system. The present invention improves the structure of a power head by providing an angle adjuster having accurate angle adjusting and anti-rotation locking functions on the side of a transmission away from a main motor, a driving shaft in the transmission connecting the main motor and the angle adjuster; in addition, the control system comprises a tool face angle measurement and initialization system. Therefore, by means of cooperation between the tool face angle measurement and initialization system and the angle adjuster, the present invention solves the problems that drilling rigs in the prior art lack special tool face angle adjusting devices and thus have low precision and efficiency in trajectory adjustment and have difficulty in achieving automatic directional drilling.

The invention relates to the technical field of automatic loading and logistics control, in particular to an automatic powder loading device based on visual identification, which comprises a visual identification module, a flexible grabbing module, a transfer module and a stacking module, the form, internal distribution and material characteristic data of the powder bag are obtained through a multi-mode sensor, a grabbing path is generated, and grabbing operation is completed through a flexible manipulator; the transfer module dynamically adjusts the transportation state of the powder bag in combination with path optimization and posture monitoring; the stacking module monitors stress of a stacking layer in real time on the basis of the stacking thermal distribution diagram, adjustment suggestion data are generated, stacking position and angle optimization is completed through a self-correction unit, and the stability of a stacking structure is ensured; the powder loading efficiency, the stacking precision and the long-term stability are remarkably improved, and the method is suitable for efficient logistics management of complex loading scenes.

The invention discloses a visual servo double-arm robot migration simulation learning method from simulation to reality, which comprises the following steps: S110, constructing a virtual simulation scene according to a real task scene, and establishing a relation between the virtual simulation scene and the real task scene; s120, the collected teaching mechanical arm and executing mechanical arm operation data are replayed and optimized in the virtual simulation scene, so that a data set used for final training is constructed; s130, a deep imitation learning network is designed and achieved, input of the deep imitation learning network comprises visual data obtained in the real task scene and state data of all joint motors of the teaching mechanical arm, and output of the deep imitation learning network is predicted states of all joint motors of the execution mechanical arm at the next moment; and S140, migrating the fully trained and converged deep imitation learning network from a virtual simulation scene to a double-arm robot in a real task scene. According to the invention, the exploration efficiency and generalization ability of the two-arm robot learning network are improved.

The invention relates to the technical field of visual automatic calibration, and discloses a joint manipulator automatic calibration method and device based on a visual system. The method comprises the following steps: carrying out multi-view image acquisition on a joint manipulator of the five-axis robot to obtain original image data; performing occlusion region extraction on the original image data to obtain a joint occlusion region set; on the basis of the joint occlusion region set, disordered image splicing and mark point feature extraction are carried out on the original image data, and joint feature image data are obtained; constructing an adaptive calibration equation based on the joint feature image data, and solving a target transformation relation between a global visual coordinate system and a local visual coordinate system; multi-joint collaborative calibration and joint chain constraint optimization of the five-axis robot are executed according to the target transformation relation, and joint error correction parameters are generated, high-precision joint error correction parameter calculation is achieved, and the positioning precision and the movement precision of a joint manipulator of the five-axis robot are greatly improved.

The present invention relates to a coal mine intelligent directional drill and its drilling method, belonging to the technical field of coal mine drills. It comprises a moving platform, machine frame, clamper, main manipulator, power head, drill pipe storage system, control system, and hydraulic system. The power head structure is improved by adding an angle adjuster with accurate angle adjustment, locking, and anti-rotation functions. The angle adjuster is positioned on the gearbox side opposite the main motor, connected via a driving shaft. The control system includes a toolface azimuth detection and initialization system that works with the angle adjuster. This solves prior issues such as the absence of specialized toolface azimuth adjustment devices, low precision, low track adjustment efficiency, and challenges in achieving automatic directional drilling in the prior art. The invention enhances precision and efficiency, enabling automated, intelligent directional drilling.

The invention discloses a control method and device for a mounting and dismounting integrated robot of a sound barrier, and relates to the field of robot control. According to the method, a digital twinborn model and a dynamic environment model are constructed according to original sensor data, and a current environment risk value is determined; a mounting or dismounting sequence is generated based on a sound barrier topology rule, and a motion path and a mechanical arm motion track are generated according to the digital twin model, the dynamic environment model and the mounting or dismounting sequence; rehearsing the motion path and the motion track of the mechanical arm in the digital twin model, and when a rehearsing result meets a preset requirement, generating an initial instruction based on the motion path and the motion track of the mechanical arm; the current clamping force is determined through an impedance control algorithm, the current hoisting parameter is determined according to the load weight, the initial instruction is adjusted according to the current clamping force, the current hoisting parameter and the current environment risk value to obtain a control instruction, and the control instruction is executed. By implementing the technical scheme provided by the invention, the mounting and dismounting efficiency is improved, and the operation safety is enhanced.

The embodiment of the invention provides an optimization method and system for a manipulator control system, and the method comprises the steps: firstly obtaining an operation data set containing a control instruction sequence and corresponding motion state data in a historical operation period of a manipulator, carrying out the feature extraction of the operation data set, and obtaining an associated motion feature set; calling a pre-trained control strategy optimization model to analyze and generate strategy adjustment parameters, adaptively updating the control instruction sequence of the current operation task according to the strategy adjustment parameters to obtain a target control instruction sequence, and finally inputting the target control instruction sequence into a control system to execute operation. And real-time motion state data is collected for subsequent iterative optimization, so that the performance of the manipulator control system can be continuously improved, and the operation precision and efficiency are improved.

The invention discloses an operation and maintenance manipulator intelligent control method and system based on visual identification, and relates to the technical field of intelligent manipulator control, and the method comprises the steps: collecting RGB image data and depth image data of an operation and maintenance operation area, and obtaining a standardized image matrix and a mapping relation matrix; inputting the standardized image matrix into an improved ResNet residual network model, generating a comprehensive feature descriptor, and calculating a spatial position coordinate and an attitude angle of the target equipment based on the mapping relation matrix; based on the current joint angle state of the manipulator, an improved Jacobian matrix inverse kinematics algorithm is used for solving a target angle sequence of each joint, a preset operation mode library is matched based on the comprehensive feature descriptor, and a grabbing force parameter and a motion speed parameter are determined; and converting the target angle sequence into a control instruction, and sending the control instruction to each joint driver of the manipulator to drive the manipulator to complete action planning. According to the invention, full-process automation from environment perception to task execution is realized.

The invention provides a robot self-adaptive grabbing and assembly track planning method for complex working conditions, and relates to the technical field of robot control, and the method comprises the steps: building a workpiece three-dimensional feature data model, constructing a deep reinforcement learning network comprising a working condition recognition layer, a strategy generation layer and a reward calculation layer, and generating an optimal grabbing strategy. And an assembly task is decomposed into three stages of pre-alignment, initial assembly and accurate assembly, so that parameter dynamic optimization is realized. The manipulator can adapt to complex working conditions such as workpiece pose uncertainty, shielding and deformation, and the grabbing precision and the assembly success rate are improved.

The invention provides an optimization method for whole-body motion planning of a mobile manipulator, and relates to the technical field of motion planning of the manipulator, and the method comprises the steps: determining environment features and a position gradient when a joint of the mobile manipulator changes based on a depth image shot by the mobile manipulator; performing strategy planning on the motion state and the motion action of the mobile mechanical arm through an actor-commentator network subjected to reinforcement learning training to obtain an expected speed of an end effector in the mobile mechanical arm; position constraint conditions used for obstacle avoidance of the movable mechanical arm are constructed based on the position gradient, and joint constraint parameters used for constraining the decision variables are constructed; and optimizing the decision variable based on a quadratic programming solver determined by the position constraint condition and the joint constraint parameter to obtain a planning result of the joint speed. According to the method and the device, the problem of limitation in the aspects of planning task completion, environment perception, constraint expression, obstacle avoidance and motion coordination during motion planning of the mobile mechanical arm is solved.

The invention provides a hydraulic generator inner bore inspection robot based on a dynamic behavior tree and an intelligent decision and operation method thereof, and the robot comprises an upper mechanical arm end executor, a six-axis mechanical arm, an intermediate control system, a mobile platform, a multi-physical quantity fusion detection system, and a central control platform. The method is specially designed for the complex dynamic shielding environment of the inner bore of the hydro-generator. According to the method, by constructing a three-level behavior tree architecture composed of a task decision-making layer, a scene adaptation layer and an execution control layer, inspection requirements are decomposed into environment perception, task execution and resource constraint events, and the events are dynamically mapped to preset behavior nodes. Weight factors are adjusted in real time based on a multi-dimensional evaluation system, and functions of autonomous obstacle avoidance, narrow space operation and anomaly detection are realized in combination with hardware characteristics of the robot. The problems that a traditional inspection method is poor in adaptability and low in efficiency in a dynamic shielding environment are solved, and the intelligent level and safety of hydraulic generator inner bore inspection are remarkably improved.

The present invention belongs to the technical field of wafer cleaning and particularly relates to a multi-station wafer cleaning system. The device comprises: a plurality of loading devices, wherein a plurality of layer plates are arranged in the loading devices, and the layer plates are suitable for holding uncleaned wafer bodies; a transfer device slidably arranged on a side of the loading devices, wherein the transfer device comprises a transfer manipulator and a transfer workbench, and the transfer manipulator is suitable for clamping the wafer bodies in the loading devices to the transfer workbench; a delivery device comprising a delivery manipulator arranged on a side of a transfer unit by means of a three-axis moving pair; and a plurality of cleaning devices respectively arranged on two sides of the delivery device, wherein the cleaning devices are divided into four groups, two groups of cleaning devices are arranged on each side of the delivery device, and each group of cleaning devices has two cleaning devices in a stacked manner. By arranging a plurality of cleaning devices stacked in each group of cleaning devices, a plurality of stations can be provided, and the cleaning efficiency of wafer bodies is improved.

The invention discloses a manipulator grabbing control system based on visual identification, and the system comprises a visual identification module which is used for collecting the three-dimensional form data and surface feature information of a target object, and eliminating the noise interference in an original image through preprocessing; the multi-modal fusion processor is used for receiving the three-dimensional form data and the surface feature information output by the visual recognition module, executing point cloud structured conversion on the three-dimensional form data, extracting geometric features of an object through a neural network, and meanwhile, performing weight distribution on the surface feature information by adopting a feature attention mechanism to complete multi-feature fusion processing; according to the multi-axis cooperative manipulator provided with the end executor, the end executor integrates a touch sensing assembly used for touch sensing and an adsorption execution device used for assisting grabbing. By integrating the technologies of visual identification, multi-modal fusion, intelligent optimization, dynamic feedback and the like, the sensing precision, the environmental adaptability and the grabbing reliability of the system to object characteristics are improved.

The invention relates to automatic foam pasting and external line shaping equipment for a PCBA. The automatic foam pasting and external line shaping equipment comprises a rack, a PCBA feeding assembly, a PCBA conveying line, a foam pasting assembly and a line folding assembly. The PCBA feeding assembly comprises a feeding multi-axis mechanical arm and a feeding vacuum suction nozzle. The foam attaching assembly comprises a foam attaching frame, a foam attaching mechanical arm, a foam attaching mechanical clamping jaw and a foam attaching vacuum suction head. The line folding assembly comprises a line folding transfer assembly and a line folding mechanism; the line folding mechanism comprises a line folding frame, a line folding positioning table, a line folding fixed clamping corner air cylinder, a line folding plate and a line folding turnover driving piece, and the line folding turnover driving piece drives the line folding plate to rotate. The foam attaching manipulator of the foam attaching assembly is matched with the PCBA conveying line to achieve automatic foam attaching on the PCBA, and the efficiency is high; according to the line folding mechanism, the pins are automatically bent into the L shape through the overturned line folding plate, the foam is clamped between the pins and the PCBA, and the foam cannot be damaged by interference of the line folding plate in the whole process.

The invention belongs to the technical field of cleaning and dirt prevention and removal, and discloses a control system and a control method of an ultrasonic cleaning device, stable energy coupling and dead-corner-free cleaning are realized through double-closed-loop driving and dynamic modulation in an ultrasonic cleaning link, and the uniformity of tank liquid cavitation intensity is remarkably improved. Meanwhile, control strategies are customized in the aspects of a rinsing link, a water cutting and drying link, liquid level control, manipulator control and the like, so that the defects of high energy consumption, incomplete drying, low rinsing efficiency, manipulator conflict and the like in the prior art are overcome while the surface and the interior of the workpiece are thoroughly cleaned; and the cleaning effects of high cleanliness, complete drying and no physical or chemical damage are ensured.

The invention discloses a 3D (three-dimensional) rocker potentiometer assembling machine. The 3D rocker potentiometer assembling machine comprises a stander, wherein the stander is provided with a rotatable transporting tray, and the rotatable transporting tray is provided with a plurality of storage grooves for storing rocker assemblies; a mechanical hand mechanism and a rocker assembly transporting mechanism, corresponding to the storage grooves, are arranged on the surface of the stander and the periphery of the rotatable transporting tray, the stander is also provided with a controller which is connected with the rotatable transporting tray, the mechanical hand mechanism and the rocker assembly transporting mechanism, and the controller is connected with an electric control system below the stander. By adopting the 3D rocker potentiometer assembling machine, a 3D rocker potentiometer can be automatically assembled and tested; not only can the production efficiency be greatly improved compared to the manual assembling, but also the labor cost is saved.

The invention relates to the technical field of mechanical arm trajectory tracking control, in particular to a mechanical arm trajectory tracking control method and system. The method comprises the following steps that a mechanical arm operation log and a track execution program are obtained, periodic track motion deviation data are extracted, and track jitter sensing record analysis is carried out; thirdly, track behavior deviation feature learning is carried out according to the track deviation data, then a track tracking execution program is optimized, and the accuracy of track tracking control is improved; and finally, designing trajectory tracking control firmware, and embedding the trajectory tracking control firmware into a mechanical arm control center to realize optimized mechanical arm trajectory tracking control. The mechanical arm trajectory tracking control technology is optimized, so that the mechanical arm trajectory tracking control technology is more perfect.

The invention relates to the technical field of grabbing manipulators, and discloses a self-adaptive grabbing device for a special-shaped curved surface workpiece, which comprises a central bearing base made of a light metal material and provided with a multifunctional quick connector at the top; the central adsorption module is fixed at the central position of the bottom of the central bearing base and comprises an air pressure balance pipeline communicated with an external air source; by means of radial adjustment of the cross shaft and cooperation of the elastic buffering structure and the vertical guiding assembly, high-precision centering and stable adsorption are achieved, vertical contact of the suction cup is ensured through vertical guiding, the suction cup is suitable for different curved surface radians, and the stable adsorption force under the small area is kept; and electric control connection supports installation, namely electrification, and is suitable for automatic precise grabbing.

An automated directional drilling machine for a coal mine, comprising: a moving platform (1), a rack (2), a clamping device (3), a main mechanical arm (4), a power head (5), a drill rod storage system (8), a control system (6), and a hydraulic system (7). By improving the structure of the power head (5), an angle adjustor (503) is arranged on the side of a transmission (502) away from a main motor (501), and a transmission shaft (50301) in the angle adjustor (503) is circumferentially and fixedly connected to a driving shaft (50201), so that accurate and efficient adjustment of a tool face angle is achieved by means of the angle adjustor (503) having the functions of accurate angle adjustment and locking to prevent rotation, and the structure of a rotation braking device of the main motor (501) is simplified.

The invention discloses a feeding manipulator for petroleum drill rod joint production, and belongs to the technical field of feeding manipulators, the feeding manipulator comprises a mechanical operation arm, two mechanical operation claws are arranged at the free end of the mechanical operation arm, and each mechanical operation claw comprises two clamping claw pieces symmetrically arranged on an output shaft of the mechanical operation arm; a stabilizing assembly with a stabilizing part is arranged in the clamping jaw part, the stabilizing part comprises a main air bag which is arranged in the clamping jaw part and used for improving uniform clamping pressure, an air pump is arranged at the top end of the clamping jaw part, and an inflation part is installed between the output end of the air pump and the main air bag in a communicating mode. The main air bag is arranged in the clamping jaw piece, the internal main air bag can be inflated and expanded to fill gaps between the clamping plates and workpieces, the clamping jaw piece can adapt to the workpieces of different shapes and sizes, the elastic material can absorb clamping impact force, the rigid clamping plates are prevented from making direct contact with the surfaces of the workpieces, pressure is evenly distributed after inflation, local stress concentration is prevented, and the clamping jaw piece can be used for clamping workpieces of different shapes and sizes. And the clamping stability is improved.

An automatic sample cutting method for shoe sole detection relates to the field of shoe sole detection equipment, and comprises a machine table, a shoe sole clamping mechanism, a numerical control milling cutter mechanism, a manipulator and a visual system, the shoe sole clamping mechanism comprises a shoe tree, a clamping cylinder and a clamping plate, and the shoe tree is inversely arranged on a working platform; the clamping cylinder pushes the clamping plate to move and clamps the shoe on the shoe tree; the numerical control milling cutter mechanism is arranged on the machine table and can cut shoe soles. The manipulator is arranged in the machine table to clamp the cut sample; the visual system comprises a visual camera and a controller, the visual camera is arranged at the end of the mechanical arm and can move along with the mechanical arm to collect marks on the shoe sole and feed back images to the controller, the controller controls the numerical control milling cutter mechanism to switch cutters and cut the shoe sole, and cutting and sampling of shoe sole samples can be rapidly completed. According to the shoe sole cutting device, only a small number of persons are needed to install and observe shoe soles beside the device, labor force is saved, some shoe soles made of firm materials can be rapidly cut, and working efficiency is improved.

The invention discloses a robust visual constraint control method and system for a mechanical arm and computer equipment, and the method comprises the steps: building an overall dynamic model of a visual servo system through combining a mechanical arm dynamic model, a visual servo kinematics model and a hand-eye calibration relation between a camera and the mechanical arm; in combination with a visual servo kinematic model, by designing a time-varying asymmetric control barrier function, a constraint satisfaction condition for constraining a visual servo characteristic error within a preset range is obtained, and an optimal visual servo speed controller is designed, and in combination with a robot dynamical model, an optimal visual servo speed controller is designed. A constraint satisfaction condition for constraining joint angular velocity within a preset range is obtained through a time-varying asymmetric control obstacle function, an optimal torque controller is designed in combination with a visual servo characteristic error constraint satisfaction condition, a torque control signal meeting performance constraint is obtained in combination with quadratic programming, and the robot is driven to reach an expected characteristic position. The success rate of a visual servo task is improved, and high-precision visual guide assembly work of the mechanical arm is achieved.

The invention discloses an immersive master-slave teleoperation anthropomorphic robot system with force feedback, a master end assembly comprises a seat, a master end control arm, a force feedback manipulator, a VR visual device, a data sensing glove and a master end controller, and the master end assembly is a master control end; the slave end assembly comprises a movable chassis, a movable trunk, a slave end mechanical arm, a slave end manipulator, a binocular camera and a slave end controller, and the slave end controller is in electric signal connection with the movable chassis, the movable trunk, the slave end mechanical arm, the slave end manipulator, the binocular camera, the six-dimensional torque sensor and the master end controller; the wireless controller is in electric signal connection with the master end controller and the slave end controller, the wireless controller has a slave end control mode and a force feedback teleoperation mode, and in the slave end control mode, the wireless controller controls the movable chassis to move; in the force feedback teleoperation mode, the master end control arm and the force feedback mechanical arm synchronously move with the slave end mechanical arm and the slave end mechanical arm correspondingly.