CN108333924A - A kind of virtual clamp during operating interactive optimizes generation method - Google Patents
A kind of virtual clamp during operating interactive optimizes generation method Download PDFInfo
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- CN108333924A CN108333924A CN201810046959.7A CN201810046959A CN108333924A CN 108333924 A CN108333924 A CN 108333924A CN 201810046959 A CN201810046959 A CN 201810046959A CN 108333924 A CN108333924 A CN 108333924A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The present invention relates to the virtual clamps during a kind of operating interactive to optimize generation method, optimizes generation, first path selection point to virtual clamp using optimal method, carries out state variable construction, obtain the state equation that virtual clamp should meet；Provide required functional function, constraints；Solve required path locus and virtual clamp parameter；Virtual clamp is generated according to the track of generation and virtual clamp parameter.The present invention program can be directed to virtual clamp local environment and self-characteristic, obtain different virtual clamp configuration parameters, adapt to increasingly complex mission requirements.
Description
Technical field
The invention belongs to operating interactive control field, it is related to the virtual clamp optimization generation side during a kind of operating interactive
The higher operation task of precise requirements is completed in method, the operation that can be used for that operator is assisted to refine during remote operating.
Background technology
Teleoperation and remote control system in the past few decades in obtain prodigious development.Remote control system can be helped
Helping operator's completion much has the job tasks of very big challenge, such as the processing of disaster assistance, Manless mining, dangerous goods,
Remote assistance, tele-medicine etc..
During remote operating, tail house executes the instruction that operator is sent out by interactive system, is operated accordingly, and
The working condition for feeding back to operating result and end, convenient for predicting end state.During remote operating, fining
Instruction is generated by operator itself with corresponding interactive mode substantially, largely receives the limitation of operator itself.
In existing mode of operation, more has used hand controller as main interactive mode, and for the control of terminal position,
More the observation by operator itself is needed to be operated accordingly to end, and the considerations of for function of human body,
In the higher operation task of precise requirements, it is inadequate for the control of end to rely solely on operator itself.To solve this
A problem, it is ensured that operator can at the appointed time in, more accurate completion task, researcher proposes a kind of virtual clamp
Concept.
Virtual clamp is as a kind of general guidance mode, by limiting robot end's movement position, by virtual environment
It generates and is abstracted sensory information, power feels that the information such as tactile feed back to main side operator, and fining is completed to reach auxiliary operation person
Operation.
It is to carry out effect of contraction by the desired motion to robot end to complete corresponding auxiliaring effect.It is existing
The implementation method of virtual clamp mainly has：Simple function method, agent point method, potential field method, non-energy storage leash law, the optimization of constraint joint
Method, reference direction fixture method, mechanical passive bound realization method etc. are a variety of.Virtual clamp of generation itself is to need to feed back to behaviour
Some sensory informations of author itself carry out auxiliary operation person and complete some experiments.For remote operating, virtual clamp itself be for
Convenient for the tool that end-of-pipe control is generated, therefore, it is necessary in view of virtual clamp feedback and virtual clamp itself for
The influence of remote operating process.
Invention content
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes the virtual clamp optimization during a kind of operating interactive
Generation method generates highly efficient virtual clamp for some tasks during remote operating, carrys out auxiliary operation person's completion pair
The control of end.
Technical solution
A kind of virtual clamp during operating interactive optimizes generation method, it is characterised in that steps are as follows：
Step 1：Using interactive tool in the virtual environment established, chosen according to quasi- completing for the task of virtual clamp more
A path point (xi,yi,zi)；
Step 2：To multiple path point (x of selectioni,yi,zi) carry out state variable construction (xi,yi,zi,ki), obtain void
The state equation that quasi- fixture should meet；
Wherein, A (4x4) indicates shape sytem matrix, is determined by the relationship between state, and B (1x4) is input matrix, is determined
The influence to system mode is inputted, C (4X1) is systematic observation matrix, represents the state for needing to export, and X is the shape of whole system
State variable, U input for system, and Y is system output, kiFor the characterisitic parameter of virtual clamp；
Step 3：According to the state equation obtained, the characterisitic parameter k of virtual clampi, obtain required functional function,
Constraints；
Functional function is：Cost functional function：
Hamilton's function：H [x (t), u (t), λ (t), t]=L [x (t), u (t), t]+λT(t)f[x(t),u(t),t]
Constraints is：Adjoint equation：
Governing equation：
Transversality condition：
Wherein, λ is Lagrange multiplier vector；
Step 4：The constraints of solution procedure 3 obtains path locus and virtual clamp parameter；
Step 5：Generation setting is carried out to virtual clamp according to the track of generation and virtual clamp parameter, completes a road
The configuration of diameter point；；
Step 6：Step 2 is repeated to step 5, virtual clamp setting is carried out to all path points, generates new virtual folder
Tool.
Advantageous effect
Virtual clamp during a kind of operating interactive proposed by the present invention optimizes generation method, utilizes optimal method pair
Virtual clamp optimizes generation, first path selection point, carries out state variable construction, obtains the shape that virtual clamp should meet
State equation；Provide required functional function, constraints；Solve required path locus and virtual clamp parameter；According to
The track of generation and virtual clamp parameter generate virtual clamp.
A kind of virtual clamp proposed by the present invention optimizes generation scheme, can be directed to virtual clamp local environment and itself
Characteristic obtains different virtual clamp configuration parameters, adapts to increasingly complex mission requirements, compared with prior art, the present invention
It has the advantages that：
1) it considers that operator itself influences virtual clamp, virtual clamp is optimized；
2) it considers influence of the end environment for virtual clamp, virtual clamp is optimized；
3) track of virtual clamp is optimized using optimal method, improves operating efficiency.
Specific implementation mode
In conjunction with embodiment, the invention will be further described：
The invention reside in solution Space teleoperation task, it is directed to different task environments, how to be generated highly efficient
Virtual clamp come auxiliary operation person complete task, proposition it is a kind of based on optimal method virtual clamp optimization generate plan
Slightly.It is realized particular by following technical scheme：
Step 1：Using interactive tool in the virtual environment established path selection point (xi,yi,zi), and by institute's total
According to being stored；
Step 2：Path selection point (xi,yi,zi), carry out state variable construction (xi,yi,zi,ki), obtain the state of system
Equation；
Wherein, A (4x4) indicates shape sytem matrix, is determined by the relationship between state, and B (1x4) is input matrix, is determined
The influence to system mode is inputted, C (4X1) is systematic observation matrix, represents the state for needing to export, and X is the shape of whole system
State variable, U input for system, and Y is system output, kiFor the characterisitic parameter of virtual clamp.
Step 3：According to the functional function of step 2 gained system state equation and model needs row handwritten copy system and about
Beam condition；Ensure the flatness in virtual clamp path, therefore, to assure that the continuity of path locus of points slope, while ensureing end side
To vector, k identical as prime direction vector direction at this stageiIt is related to current location and virtual clamp itself；
System state equation：
Cost functional function：
Hamilton's function：H [x (t), u (t), λ (t), t]=L [x (t), u (t), t]+λT(t)f[x(t),u(t),t] (4)
Adjoint equation：
Governing equation：
Transversality condition：
Wherein, λ is Lagrange multiplier vector.
Step 4：According to the equation condition write listed by step 3, the known variables in system state equation are solved, it should be noted that
, whole path point is that therefore, transversality condition can be rewritten as with the optimization problem under endpoint constraint
Wherein, t0It is not the initial conditions under the conditions of entirety, t only to the initial time under this section of pathfAlso right
It should be with the terminal juncture in the stage.The stage condition function of stage virtual fixture is solved according to above formula.
Step 5：Configure parameter according to the virtual clamp that is obtained, carry out path planning setting, at the same can according to formula 9 into
Row fictitious force is arranged；
Wherein, KGVFFor virtual force parameter, with kiIt is related, it can be obtained by the state variable of system, PdFor actual path path
Point, PrTo calculate the theory locus path point of gained.
Step 6：Step 2-5 is repeated, the virtual clamp for carrying out fullpath track calculates configuration, obtains complete virtual folder
Tool.
Claims (1)
1. the virtual clamp during a kind of operating interactive optimizes generation method, it is characterised in that steps are as follows：
Step 1：Using interactive tool in the virtual environment established, multiple roads are chosen according to quasi- completing for the task of virtual clamp
Diameter point (xi,yi,zi)；
Step 2：To multiple path point (x of selectioni,yi,zi) carry out state variable construction (xi,yi,zi,ki), obtain virtual clamp
The state equation that should meet；
Wherein, A (4x4) indicates shape sytem matrix, is determined by the relationship between state, and B (1x4) is input matrix, determines input
Influence to system mode, C (4X1) are systematic observation matrix, represent the state for needing to export, and X is that the state of whole system becomes
Amount, U input for system, and Y is system output, kiFor the characterisitic parameter of virtual clamp；
Step 3：According to the state equation obtained, the characterisitic parameter k of virtual clampi, obtain required functional function, constraint
Condition；
Functional function is：Cost functional function：
Hamilton's function：H [x (t), u (t), λ (t), t]=L [x (t), u (t), t]+λT(t)f[x(t),u(t),t]
Constraints is：Adjoint equation：
Governing equation：
Transversality condition：
Wherein, λ is Lagrange multiplier vector；
Step 4：The constraints of solution procedure 3 obtains path locus and virtual clamp parameter；
Step 5：Generation setting is carried out to virtual clamp according to the track of generation and virtual clamp parameter, completes a path point
Configuration；；
Step 6：Step 2 is repeated to step 5, virtual clamp setting is carried out to all path points, generates new virtual clamp.
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| CN201810046959.7A CN108333924B (en) | 2018-01-18 | 2018-01-18 | Virtual fixture optimization generation method in operation interaction process |
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| CN104932253A (en) * | 2015-04-12 | 2015-09-23 | 北京理工大学 | Mechanical-electrical composite transmission minimum principle real-time optimization control method |
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| CN105242533A (en) * | 2015-09-01 | 2016-01-13 | 西北工业大学 | Variable-admittance teleoperation control method with fusion of multi-information |
| CN106444861A (en) * | 2016-11-21 | 2017-02-22 | 清华大学深圳研究生院 | Space robot teleoperation system based on three-dimensional gestures |
| CN106842121A (en) * | 2016-11-07 | 2017-06-13 | 宁波大学 | Sighting distance and the robust position location method based on reaching time-difference in non line of sight hybird environment |
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2018
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| US6278899B1 (en) * | 1996-05-06 | 2001-08-21 | Pavilion Technologies, Inc. | Method for on-line optimization of a plant |
| CN102810127A (en) * | 2012-07-26 | 2012-12-05 | 北京卫星环境工程研究所 | Virtual vibration test system for spacecraft |
| CN104932253A (en) * | 2015-04-12 | 2015-09-23 | 北京理工大学 | Mechanical-electrical composite transmission minimum principle real-time optimization control method |
| CN105159315A (en) * | 2015-09-01 | 2015-12-16 | 西北工业大学 | Target approaching process robustness planning control method facing tethered space robot |
| CN105242533A (en) * | 2015-09-01 | 2016-01-13 | 西北工业大学 | Variable-admittance teleoperation control method with fusion of multi-information |
| CN106842121A (en) * | 2016-11-07 | 2017-06-13 | 宁波大学 | Sighting distance and the robust position location method based on reaching time-difference in non line of sight hybird environment |
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