CN107717994B - Master-slave heterogeneous robot general control method and system based on master-slave space mapping - Google Patents
Master-slave heterogeneous robot general control method and system based on master-slave space mapping Download PDFInfo
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- CN107717994B CN107717994B CN201711091801.3A CN201711091801A CN107717994B CN 107717994 B CN107717994 B CN 107717994B CN 201711091801 A CN201711091801 A CN 201711091801A CN 107717994 B CN107717994 B CN 107717994B
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- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a master-slave heterogeneous robot general control method and system based on master-slave space mapping. After an operator inputs the parameters of the connecting rods of the master hand and the slave hand into the control system, the control system maps and converts the position, the speed and the force of the master hand and the slave hand by adopting a D-H parameter method and a Jacobian matrix method according to the parameters, so that the master hand can accurately control the slave hand. The invention can realize the mapping control of the master hand and the slave hand with any degree of freedom, realize the accurate position and speed control of the robot of any master hand to any slave hand, realize the accurate force feedback of the slave hand to the master hand, monitor the system in real time and have strong universality and safety.
Description
Technical Field
The invention belongs to the field of teleoperation robots, and relates to a general master-slave space mapping and control method for a master-slave heterogeneous robot.
Background
With the continuous development of various technologies, robots have gradually entered various fields of production and life, for example, in production lines of many industrial fields, the robots can automatically complete production tasks only by calling programs. However, in many industrial control sites, chemical plants, nuclear plants, etc., since the environment of the plant is complicated and the risk is high, a manual method cannot be used in consideration of the safety of workers, and since the situation of the site is very complicated and it is difficult to fully automate the production process, the combination of both creates a master-slave teleoperation type robot. In addition, the minimally invasive surgical robot in the medical field is also in a teleoperation robot mode, and the operation can be more accurate and better in effect through the master-slave mode control mode.
The teleoperation robot mainly adopts a master-slave mode operation method, comprises a master-hand robot and a slave-hand robot, and the basic idea is to realize the control of the slave-hand robot by detecting the motion angles of all joints of a master hand. Since the motion of the slave-end robot has a great influence on the safety and accuracy of the whole production process, the slave-end robot needs to accurately detect the control signal of the master end and perform corresponding actions according to the control signal of the master end. The position and speed signals of the robot at the master hand end mainly obtain corresponding rotation angle information through encoders of all joints, then the information is transmitted to the controller, and finally corresponding signals are sent to the robot at the slave hand end through the controller after corresponding calculation, so that the motion of the robot at the slave hand end is controlled, and operations such as industrial production or minimally invasive surgery are completed.
For the control mode of the master-slave hand robot, two modes, namely a master-slave homomorphic control mode and a master-slave heterogeneous control mode, mainly exist. The master-slave isomorphic control mode requires that the master hand end robot and the slave hand end robot have the same structural form, so that the master-slave isomorphic operation robot has a smaller application range; at present, most robots with different structures at master and slave hand ends exist, so that the master hand end is generally controlled to the slave hand end by adopting a master-slave heterogeneous control mode. According to investigation, the existing master-slave heterogeneous control method is generally only suitable for a certain master-slave type robot, and when other types of master hand-end robots or slave hand-end robots are adopted, the robot cannot work well and cannot achieve the expected effect of the robot.
Disclosure of Invention
The invention provides a master-slave heterogeneous robot general control method and a master-slave heterogeneous robot general control system based on master-slave space mapping, which are suitable for any master-slave heterogeneous teleoperation robot, and can be used for carrying out mapping calculation on the space position, the speed and the force of a master hand-end robot and a slave hand-end robot with any degree of freedom, realizing accurate control on the position and the speed of the slave hand-end robot and realizing the force feedback of the slave hand-end robot to the master hand-end robot by identifying the position and the speed of the master hand-end robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a master-slave heterogeneous robot general control method based on master-slave space mapping comprises the following steps:
1) establishing master-slave space mapping between a master hand-end robot with any degree of freedom and a slave hand-end robot with any degree of freedom according to the parameters of the master hand-end robot and the slave hand-end robot;
2) master-slave spatial transformation using master-slave spatial mapping
Converting the collected position signal of the master hand-end robot into a motion control signal of the slave hand-end robot, sending the motion control signal to the slave hand-end robot controller to enable the slave hand-end robot to move, and performing closed-loop control according to the fed back position signal of the slave hand-end robot until the motion of the slave hand-end robot reaches a target pose; and switching the slave hand-end robot according to the control precision requirement of the target pose in the motion process.
The master-slave spatial transformation has the following two cases:
① when the degree of freedom of the master hand-end robot is greater than that of the slave hand-end robot, the posture of the slave hand-end robot is close to that of the master hand-end robot as much as possible on the premise of meeting the space position;
② when the degree of freedom of the master hand-end robot is less than or equal to that of the slave hand-end robot, the inverse solution with the smallest difference with the current joint angle of the slave hand-end robot is selected from the multiple inverse solutions corresponding to the space position and posture (namely the target pose) required to be reached by the master hand-end robot to control the motion of the slave hand-end robot.
The control method further comprises the following steps: and converting the force signal of the slave hand-end robot by calculation by using master-slave space mapping, and performing force feedback on the master hand-end robot according to a conversion result.
The control method specifically comprises the following steps:
① input of master and slave robot related parameters
Inputting the length and the torsion angle of each connecting rod of the master robot and the slave robot, the joint offset distance between adjacent connecting rods and the motion angle range of each joint into a control system;
② selection of master-slave motion scaling factor
Changing the default master-slave end motion proportion coefficient, wherein the default master-slave end motion proportion coefficient is obtained by calculating the sizes of the working space of the master hand-end robot and the working space of the slave hand-end robot according to the relevant parameters input in the step ① and then comparing the working space of the master hand-end robot with the working space of the slave hand-end robot;
③ function selection of force feedback
After step ②, it is determined whether the slave end-of-hand robot is in motion for force feedback to the master end-of-hand robot;
④ safety detection from a hand robot
If the rotation of any joint of the slave end robot is detected to reach the singular position, the motion of the slave end robot is directly stopped, otherwise, the operation goes to step ⑤;
⑤ Master slave spatial position conversion
Converting joint space coordinates of the master hand end robot into Cartesian coordinates according to information of each joint rotation angle of the master hand end robot, amplifying or reducing according to a master-slave end motion proportion coefficient, then solving according to the inverse of relevant parameters of the slave hand end robot, and converting the Cartesian coordinates into joint space coordinates of the slave hand end robot, so as to control the motion of the slave hand end robot;
if it is determined that force feedback is required in step ③, solving the magnitude of each joint moment according to the relationship between the speed variation and time of each joint movement of the slave-end robot, then converting the Jacobian matrix of the slave-end robot into a Cartesian space, and then converting the inverted Jacobian matrix of the master-end robot into the magnitude of each joint moment of the master-end robot, or converting the measurement data of the force sensor on the slave-end robot directly into the magnitude of each joint moment of the master-end robot through the inverted Jacobian matrix of the master-end robot, and applying the moment to each joint of the master-end robot to realize force feedback;
⑥, monitoring whether the robot needs to stop at any time during the moving process, stopping the robot when the robot needs to stop, and returning to step ④ if the robot does not need to stop.
And if the slave-hand-end robot needs to be switched, stopping the slave-hand-end robot firstly, and restarting the slave-hand-end robot after the switching mode is selected, wherein the switching mode comprises ① switching the slave-hand-end robot currently controlled by the master-hand-end robot, ② carrying out zero-returning operation on each joint position of the master-hand-end robot and/or replacing a master-slave-end motion proportional coefficient.
A general master-slave space mapping and control system of a master-slave heterogeneous robot comprises a master-slave robot structure parameter input module, a master-slave motion proportionality coefficient selection module, a master-slave robot switching control module and a master-slave space position conversion module;
the master-slave end robot structure parameter input module is used for inputting the length and the torsion angle of each connecting rod, the joint offset distance between adjacent connecting rods and the motion angle range of each joint of the master hand-end robot and each slave hand-end robot which needs to be controlled correspondingly into the control system;
the master-slave motion proportion coefficient selection module is used for calculating a default master-slave end motion proportion coefficient and changing the default master-slave end motion proportion coefficient, the default master-slave end motion proportion coefficient is obtained by calculating the sizes of a master hand-end robot working space and a slave hand-end robot working space according to related parameters input by the master-slave end robot structure parameter input module and then comparing the master hand-end robot working space with the slave hand-end robot working space;
the master-slave end robot switching control module is used for selecting a switching mode after fixing the slave hand end robot currently controlled by the master hand end robot to a certain pose and then restarting the slave hand end robot motion under the control of the master hand end robot, wherein the switching mode comprises ① switching the slave hand end robot currently controlled by the master hand end robot and ② carrying out zero returning operation and/or master-slave end motion proportionality coefficient replacement on each joint position of the master hand end robot;
the master-slave space position conversion module is used for converting joint space coordinates of the master-hand robot into Cartesian coordinates according to information of rotation angles of all joints of the master-hand robot, carrying out amplification or reduction according to motion proportion coefficients of the master and the slave, then carrying out inverse solution according to relevant parameters of the slave-hand robot, and converting the Cartesian coordinates into joint space coordinates of the slave-hand robot, so that the motion of the slave-hand robot is controlled.
The control system also comprises a master-slave end robot safety detection module, a force feedback selection and calculation module and a slave-hand end robot fixing module.
The master-slave end robot safety detection module is used for estimating the rotation position of any joint of the slave hand end robot in real time, and when the master hand end robot controls the slave hand end robot to move to the singular position of the joint, the slave hand end robot is set to stop moving.
The force feedback selection and calculation module is used for solving the magnitude of each joint moment according to the relation between the speed change of each joint movement of the slave-end robot and time, then converting the Jacobian matrix of the slave-end robot into a Cartesian space, and converting the inverted Jacobian matrix of the master-end robot into the magnitude of each joint moment of the slave-end robot; or the system is used for converting the measurement data of the force sensor on the slave-hand-end robot into the magnitude of each joint moment of the master-hand-end robot through the inverse Jacobian matrix of the master-hand-end robot directly, so that force feedback is realized.
The slave hand end robot fixing module is used for fixing the pose of the slave hand end robot controlled by any one master hand end robot.
Compared with the prior art, the invention has the beneficial effects that:
the method utilizes the parameters of the master-slave end robot to carry out modeling and space conversion calculation on the master hand-end robot and the slave hand-end robot, thereby accurately converting the position signal of the master hand-end robot into the motion control signal of the slave hand-end robot, and simultaneously realizing the accurate control of the slave hand-end robot by switching the slave hand-end robot under the control of the master hand-end robot. The invention can realize the control of the accurate position and speed (position to time) of the master-hand-end robot to the slave-hand-end robot, has strong universality and safety, and is suitable for the control of any master-hand-end robot to any slave-hand-end robot.
Furthermore, the invention can realize force feedback to the master hand-end robot for various slave hand-end robots, and particularly can estimate the magnitude of each joint force through the relation between the speed change and the time when the slave hand-end robot is not provided with a force sensor, thereby converting the magnitude of each joint force into the joint moment of the master hand-end robot and realizing the accurate force feedback of the slave hand-end robot to the master hand-end robot.
Furthermore, the invention can monitor the safety of the system in real time, avoid accidents caused by the movement of the hand-end robot to a singular position and ensure that the master-slave control is safer.
Drawings
Fig. 1 is a master-slave control schematic.
Fig. 2 is a general master-slave spatial mapping and control system configuration diagram.
FIG. 3 is a flow chart of a general master-slave spatial mapping and control system.
Detailed Description
The invention is further described below with reference to the figures and examples. It should be understood that the examples described herein are only for the purpose of illustrating the present invention and are not intended to limit the present invention.
As shown in figure 1, the master-slave space mapping and control system is used for connecting a master hand-end robot with any degree of freedom with a slave hand-end robot with any degree of freedom through a master-slave space mapping and control system in the middle, wherein the master-slave space mapping and control system mainly has the functions of collecting and converting position signals of the master hand-end robot, then sending the converted motion control signals to the slave hand-end robot controller for action, feeding back position and speed signals of the slave hand-end robot to the master-slave space mapping and control system, and performing closed-loop control by the master-slave space mapping and control system to achieve a target pose. Meanwhile, the master-slave space mapping and control system can convert the force signal of the slave-hand-end robot into the master hand-end robot through calculation to feed back the force.
To achieve the above functions, as shown in fig. 2, the master-slave spatial mapping and control system includes: the system comprises a master-slave robot structure parameter input module, a master-slave motion proportion coefficient selection module, a master-slave robot switching control module, a master-slave spatial position conversion module, a master-slave robot safety detection module, a force feedback selection and calculation module and a slave-hand robot fixing module. The control system maps and converts the positions, the speeds and the forces of the master hand and the slave hand by adopting a D-H parameter method and a Jacobi matrix method according to the input parameters, thereby realizing the accurate control of the master hand on the slave hand. The main functions of the various modules are as follows:
the master-slave end robot structure parameter input module: since the invention designs universal master-slave heterogeneous mapping and control, the parameters of the robots at the master hand end and the slave hand end are not fixed, so the parameters of the control system need to be configured before control. Because the system adopts a D-H parameter method for describing the robot, the number of connecting rods of the master-hand end robot and the slave-hand end robot, the length and torsion angle of each connecting rod, the joint offset distance between adjacent connecting rods and the motion angle of each joint need to be input into a control system through a master-slave end robot structure input module, and the configuration of the system is completed so as to facilitate the calculation of master-slave space mapping parameters of the system.
The master-slave motion scale factor selection module: when the slave-end robot is controlled by the master-end robot, the working space of the master-end robot and the working space of the slave-end robot are both fixed (Monte Carlo method calculation), and to achieve a good control effect, on one hand, the slave-end robot needs to be able to reach any position and posture in the working space of the slave-end robot under the control of the master-end robot, and on the other hand, the slave-end robot needs to make the slave-end robot move more accurately and more slowly when performing fine operation, and the master-end robot generally operates by hands, so the control of the accuracy is not good. Then the master-slave motion scale factor selection module can play a very big role: before operation, the module can calculate a proportionality coefficient of a working space of the master-slave-end robot and a working space of the slave-end robot according to the parameter input of the former master-slave-end robot structure parameter input module, the default proportionality coefficient is the ratio (for example, 1:2) of the size of the working space of the master-slave-end robot to the size of the working space of the slave-end robot, so that the slave-end robot traverses the whole working space of the slave-end robot, and when fine operation is needed, the proportionality coefficient (for example, 5:1) can be adjusted, so that the motion precision of the slave-end robot controlled by the master-slave-end robot is higher (the higher the control precision requirement is, the larger the proportionality coefficient is).
The master-slave end robot switching control module: when the slave-end robots are controlled to move, sometimes three slave-end robots are needed to work, however, the master-end robot controls the two slave-end robots by operating the two master-end robots with the left hand and the right hand at most, so that the master-end robot switching control module is needed to fix the slave-end robot controlled by one master-end robot to a certain pose, and then the master-end robot is switched to another slave-end robot for control. In addition, due to the selection of the motion proportionality coefficient, the master-hand-end robot may not be able to control the slave-hand-end robot to move to any position, when the master-hand-end robot reaches the extreme position and the slave-hand-end robot does not reach the target pose, the master-slave-end robot switching control module may be used to fix the position of the slave-hand-end robot, return the positions of the joints of the master-hand-end robot to zero, and then restart the master-hand-end robot to control the slave-hand-end robot.
The master-slave spatial position conversion module: the control system needs to realize that any master hand-end robot can control the motion of any slave hand-end robot, and all parameters of the connecting rods of the master hand-end robot and the slave hand-end robot are input into the system, at this time, the joint space coordinate of the master hand-end robot is converted into a Cartesian coordinate through calculation of forward solution of robot kinematics (D-H parameter method) according to the information of all joint rotation angles input by the master hand-end robot, then the coordinate is amplified or reduced according to a motion proportion coefficient to obtain a Cartesian space coordinate value, inverse solution calculation is carried out on the slave hand-end robot according to the obtained coordinate value, namely, the obtained coordinate value of the Cartesian space coordinate system is converted into the joint space coordinate value of the slave hand-end robot, and the motion control of the slave hand-end robot is realized. In addition, the module can form a closed loop for the motion of the slave-end robot to accurately achieve the target pose of the slave-end robot. The invention is a universal master-slave space mapping method, so when the master-slave space conversion is carried out, the following two conditions mainly exist:
① when the degree of freedom of the master hand-end robot is greater than that of the slave hand-end robot, the joint space coordinate of the master hand-end robot is converted into Cartesian space coordinate and scaled by the motion scale factor, the slave hand-end robot needs to be inversely calculated, because the degree of freedom of the slave hand-end robot is less, some postures of the master hand-end robot cannot be reached, and the system can make the posture of the slave hand-end robot approach the posture of the master hand-end robot as much as possible on the premise of meeting the space position;
② when the degree of freedom of the master hand end robot is less than or equal to that of the slave hand end robot, because the slave hand end robot has more degrees of freedom, there are more inverse solutions for the spatial position and posture which the master hand end robot requires to reach, at this time, the system can evaluate the inverse solutions, and select the inverse solution which has smaller difference with the current each joint angle of the slave hand end robot to control the motion of the slave hand end robot.
The master-slave end robot safety detection module: when the slave end robot is controlled, the slave end robot always has a plurality of singular positions, and when the slave end robot joint rotates to reach the singular positions, various dangerous accidents occur, so that the system needs to detect the motion safety of the slave end robot in real time.
The force feedback selection and calculation module: when the master hand-end robot controls the slave hand-end robot to move, in order to achieve a better movement effect, generally, the master hand-end robot is designed to have a force feedback function, and the invention can be applied to any master hand-end robot with or without force feedback. Before master-slave control is carried out, an operator needs to input a function of whether force feedback is needed in the system, and because the number of force sensors installed on the slave-end robot is small generally and the master-end robot has the function of force feedback generally, the module comprises a force estimator, the magnitude of the moment of each joint of the slave-end robot can be calculated according to the relation between the speed change of each joint of the slave-end robot and time, then the moment is converted into a Cartesian space through a Jacobian matrix of the slave-end robot, and finally the moment of each joint of the master-end robot is converted into the magnitude of each joint of the master-end robot through an inverse Jacobian matrix of the master-end robot. If the force sensor is installed at the tail end of the slave-hand-end robot, the force sensor can be directly converted into the magnitude of each joint moment of the master-hand-end robot through the inverse Jacobian matrix of the master-hand-end robot, and force feedback is directly realized.
The slave end robot fixing module: when the control operation of the slave-hand-end robot is carried out, sometimes, in order to complete one process, the slave-hand-end robot needs to be fixed to a certain pose, then another master-hand-end robot is controlled to move, if the slave-hand-end robot is controlled to be fixed in a mode that the hands of the fixed robot are not moved and the master-hand-end robot is not moved, the effect hardly meets the requirements of the process, at the moment, the slave-hand-end robot can be fixed through the slave-hand-end robot fixing module, and after the process is completed, the slave-hand-end robot can be restarted to continue to complete the subsequent work.
Examples of the applications
Two six-degree-of-freedom robots are selected as a master hand-end robot, a torque motor is arranged on each joint of the master hand-end robot, force feedback can be achieved, three six-degree-of-freedom robots are selected from slave hand-end robots, and no force sensor is arranged on each joint and the tail end of each slave hand-end robot. The master hand-end robot is connected with the master-slave space mapping and control system, and then the control system is connected with the slave hand-end robot, so that the master hand-end robot can accurately control the slave hand-end robot.
As shown in fig. 3, the specific control flow is as follows:
initialization: after the master-slave hand-end robot and the slave hand-end robot are successfully connected with the control system respectively, firstly, inputting relevant parameters of the master-slave end six-degree-of-freedom robot, and inputting the length, the torsion angle, the offset distance of adjacent joints and the motion angle range of each joint of the master-slave end robot and the slave end robot into the control system; then, selecting a master-slave end motion proportional coefficient, calculating the sizes of a master-slave end robot working space and a slave-slave end robot working space according to the previously input parameters by default of a general system, then comparing the master-slave end robot working space with the slave-slave end robot working space to obtain the default motion proportional coefficient of the master-slave end and display the coefficient to an operator, and the operator can change the default motion proportional coefficient as required; after the master-slave motion proportionality coefficient is set, whether a force feedback function needs to be selected or not needs to be selected, and the selected master-hand six-degree-of-freedom robot has force feedback with six degrees of freedom, so that the force feedback is needed.
After the whole master-slave space mapping and control system is initialized, the safety of the slave-hand six-degree-of-freedom robot needs to be detected, the motion of the slave-hand robot is directly stopped after the slave-hand robot is detected to reach a singular position, and the next master-slave space force position mapping control (the master-slave space robot and the slave-hand robot work space position conversion and force feedback) can be carried out only when the slave-hand robot does not reach the singular position. After the safety detection, the control system converts joint space coordinates of the master-hand-end robot into Cartesian coordinates according to information of each joint rotation angle input by the master-hand-end robot, amplifies or reduces the joint space coordinates according to a master-slave-end motion proportion coefficient, then solves the inverse solution according to each parameter of the slave-hand-end six-freedom-degree robot, and converts the Cartesian coordinate values into joint space coordinate values, so that the motion of the slave-hand-end robot is controlled. Because the six-degree-of-freedom robot at the slave hand end does not have a force sensor, but still needs to perform force feedback, the force estimator of the control system is needed to solve the magnitude of each joint moment according to the relation between the speed variation of the slave hand end robot and time, then the Jacobian matrix of the slave hand end robot is converted into a Cartesian space, then the Jacobian matrix of the master hand end robot is converted into the moment of each joint of the master hand end robot, and the moment is applied to each joint of the master hand end robot to realize the force feedback.
In the process of movement, if a certain six-degree-of-freedom robot at the slave hand end needs to be set to a certain fixed pose, the slave hand end robot can be selected to be in a fixed mode, so that the slave hand end robot can work better. In addition, during the motion process of the slave-end robot, the slave-end robot can be switched, and after the switching is confirmed, whether the master-slave-end motion proportionality coefficient (the master-end robot returns to zero) is switched to facilitate more accurate work or the master-end robot is switched to control the other slave-end six-degree-of-freedom robot is required to be selected. When the switching is performed, the slave-end robot is first stopped, and after the switched mode is selected, the slave-end robot is restarted. Whether the robot needs to stop or not is monitored at any time in the movement process, and when the operator of the master hand-end robot needs to stop operation, the slave hand-end robot can be set to stop working.
In summary, the invention provides a master-slave space mapping control method suitable for any master-slave heterogeneous teleoperation robot, which can perform mapping calculation on the spatial position, speed and force of a master hand-end robot and a slave hand-end robot with any degree of freedom, and realizes accurate control on the position and speed of the slave hand-end robot and force feedback of the slave hand to the master hand through recognition of the position and speed of the master hand-end robot.
Claims (6)
1. A master-slave heterogeneous robot general control method based on master-slave space mapping is characterized in that: the control method comprises the following steps:
1) establishing master-slave space mapping between a master hand-end robot with any degree of freedom and a slave hand-end robot with any degree of freedom according to the parameters of the master hand-end robot and the slave hand-end robot;
2) master-slave spatial transformation using master-slave spatial mapping
Converting the collected position signal of the master hand-end robot into a motion control signal, sending the motion control signal to the slave hand-end robot controller to enable the slave hand-end robot to move, and performing closed-loop control according to the fed back position signal of the slave hand-end robot until the slave hand-end robot moves to reach a target pose; switching the slave end robot according to the control precision requirement in the motion process;
the master-slave spatial transformation has the following two cases:
① when the degree of freedom of the master hand-end robot is greater than that of the slave hand-end robot, the posture of the slave hand-end robot is close to that of the master hand-end robot as much as possible on the premise of meeting the space position;
② when the degree of freedom of the master hand-end robot is less than or equal to that of the slave hand-end robot, selecting the inverse solution with the smallest difference with the current joint angle of the slave hand-end robot from a plurality of inverse solutions corresponding to the space position and posture required to be reached by the master hand-end robot to control the motion of the slave hand-end robot;
the control method further comprises the following steps: converting the force signal of the slave hand-end robot by calculation by using master-slave space mapping, and performing force feedback on the master hand-end robot according to the conversion result;
the control method specifically comprises the following steps:
① input of master and slave robot related parameters
Inputting the length and the torsion angle of each connecting rod of the master and slave end robots, the joint offset distance between adjacent connecting rods and the motion angle range of each joint;
② selection of master-slave motion scaling factor
Changing the default master-slave end motion proportion coefficient, wherein the default master-slave end motion proportion coefficient is obtained by calculating the sizes of the working space of the master hand-end robot and the working space of the slave hand-end robot according to the parameters input in the step ① and then comparing the working space of the master hand-end robot with the working space of the slave hand-end robot;
③ function selection of force feedback
After step ②, it is determined whether the slave end-of-hand robot is in motion for force feedback to the master end-of-hand robot;
④ safety detection from a hand robot
If the rotation of any joint of the slave end robot is detected to reach the singular position, stopping the motion of the slave end robot, otherwise, turning to step ⑤;
⑤ Master slave spatial position conversion
Converting joint space coordinates of the master hand end robot into Cartesian coordinates according to information of each joint rotation angle of the master hand end robot, amplifying or reducing according to a master-slave end motion proportion coefficient, then solving according to parameters of the slave hand end robot in an inverse mode, converting the Cartesian coordinates into joint space coordinates, and accordingly controlling the slave hand end robot to move;
if the force feedback is determined to be needed, solving the moment of each joint according to the relation between the speed variation of each joint movement of the slave-end robot and time, converting the Jacobian matrix of the slave-end robot into a Cartesian space, converting the inverse Jacobian matrix of the master-end robot into the moment of each joint of the master-end robot, or converting the measurement data of a force sensor on the slave-end robot into the moment of each joint of the master-end robot directly through the inverse Jacobian matrix of the master-end robot, and applying the moment to each joint of the master-end robot to realize the force feedback;
⑥, monitoring whether the robot needs to stop at any time during the moving process, stopping the robot when the robot needs to stop, and returning to step ④ if the robot does not need to stop.
2. The master-slave heterogeneous robot general control method based on master-slave space mapping according to claim 1, characterized in that: if the slave-end robot needs to be switched, the slave-end robot is firstly stopped, and the slave-end robot is restarted after the switching mode is selected; the switching mode comprises switching of a slave-hand robot currently controlled by the master-hand robot, zero returning operation of each joint position of the master-hand robot and/or replacement of a motion proportionality coefficient of the master and slave ends.
3. A general master-slave space mapping and control system of master-slave heterogeneous robots is characterized in that: the control system comprises a master-slave robot structure parameter input module, a master-slave motion proportion coefficient selection module, a master-slave robot switching control module and a master-slave spatial position conversion module;
the master-slave end robot structure parameter input module is used for inputting the length and the torsion angle of each connecting rod, the joint offset distance between adjacent connecting rods and the motion angle range of each joint of the master hand-end robot and each slave hand-end robot which needs to be controlled correspondingly into the control system;
the master-slave motion proportion coefficient selection module is used for calculating a default master-slave end motion proportion coefficient and changing the default master-slave end motion proportion coefficient, the default master-slave end motion proportion coefficient is obtained by calculating the sizes of a master hand-end robot working space and a slave hand-end robot working space according to parameters input by the master-slave end robot structure parameter input module and then comparing the master hand-end robot working space with the slave hand-end robot working space;
the master-slave end robot switching control module is used for fixing the slave hand end robot currently controlled by the master hand end robot to a certain pose, then selecting a switching mode, and restarting the motion of the slave hand end robot under the control of the master hand end robot; the switching mode comprises switching a slave hand-end robot currently controlled by the master hand-end robot, carrying out zero returning operation on each joint position of the master hand-end robot and/or replacing a motion proportional coefficient of the master hand-end robot and the slave hand-end robot;
the master-slave space position conversion module is used for converting joint space coordinates of the master-hand robot into Cartesian coordinates according to information of rotation angles of all joints of the master-hand robot, carrying out amplification or reduction according to motion proportionality coefficients of the master and the slave, then carrying out inverse solution according to parameters of the slave-hand robot, and converting the Cartesian coordinates into joint space coordinates, so that the slave-hand robot is controlled to move.
4. The system of claim 3, wherein the master-slave space mapping and control system comprises: the control system also comprises a master-slave end robot safety detection module; the master-slave end robot safety detection module is used for estimating the rotation position of any joint of the slave hand end robot in real time, and when the master hand end robot controls the slave hand end robot to move to the singular position of the joint, the slave hand end robot is set to stop moving.
5. The system of claim 3, wherein the master-slave space mapping and control system comprises: the control system also comprises a force feedback selection and calculation module; the force feedback selection and calculation module is used for solving the moment of each joint according to the relation between the speed change of each joint of the slave-end robot and time, converting the moment of each joint into a Cartesian space through a Jacobian matrix of the slave-end robot, and converting the moment of each joint of the master-end robot into the moment of each joint of the master-end robot through an inverse Jacobian matrix of the master-end robot; or the system is used for converting the measurement data of the force sensor on the slave-hand-end robot into the moment of each joint of the master-hand-end robot directly through the inverse Jacobian matrix of the master-hand-end robot.
6. The system of claim 3, wherein the master-slave space mapping and control system comprises: the control system also comprises a slave end robot fixing module; the slave hand end robot fixing module is used for fixing the pose of the slave hand end robot controlled by any one master hand end robot.
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