CN108527305A - A kind of hot line robot force feedback master-slave control method and system based on virtual reality technology - Google Patents
A kind of hot line robot force feedback master-slave control method and system based on virtual reality technology Download PDFInfo
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- CN108527305A CN108527305A CN201810319482.5A CN201810319482A CN108527305A CN 108527305 A CN108527305 A CN 108527305A CN 201810319482 A CN201810319482 A CN 201810319482A CN 108527305 A CN108527305 A CN 108527305A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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Abstract
The present invention proposes a kind of hot line robot force feedback master-slave control method and system based on virtual reality technology.Including main manipulator, mechanical arm and industrial personal computer；When main manipulator force-feedback control, industrial personal computer calculates the torque data in each joint of main manipulator according to the stress data of mechanical arm tail end, by the control interface of main manipulator, controls each joint output torque of main manipulator；The scalar of tool arm end stress data is six degree of freedom power/torque data, by industrial personal computer according to the end pose data and tip speed data of mechanical arm, is obtained using being calculated based on virtual reality technology；When mechanical arm Pose Control, industrial personal computer calculates the desired value of end of arm speed vector according to the angle-data of each rotary joint of main manipulator, by the control interface of mechanical arm, is moved according to the desired value control machinery arm.The present invention can accurately, efficiently and safely complete livewire work.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot power based on virtual reality technology
Feed back master-slave control method and system.
Background technology
With the gradual development of hot line robot, the operation of traditional man-computer symbiosis's Insulated Hold formula cannot meet
Control performance under livewire work environment and security requirement.Before this, operating personnel can pass through main manipulator remote control machine
The hot line robot of device people, it is ensured that operating personnel is isolated with high voltage electric field；Remote control operate when, operating personnel according to
Working scene monitoring system monitors operation process, between robotic arm and manipulating object, between mechanical arm, manipulating object and operation
The judgement of relative position between environment is more accurate, and there is no visual dead angle, and performance accuracy higher can prevent collision from sending out
It is raw, improve operational security.But when carrying out pinpoint hot line job using aforementioned hot line robot, example
Isolation switch, fuse switch and arrester both ends conducting wire are such as disconnected, mainly by observing operating environment image (including reality
When image and 3D modeling image) come judge mechanical arm whether operate in place, between mechanical arm and operation object and machinery
The contact forces degree size and unaware of arm and mechanical arm, it is difficult to judge whether performance accuracy meets operation and require.If operation
Personnel or control system can be between sense mechanism arm and operation objects and the contact forces degree of mechanical arm and mechanical arm is big
It is small, then it can more accurately judge whether operations are accurate in place.
Since the main hand of force feedback can be achieved at the same time the position control and force feedback of multiple degree of freedom, the main hand of force feedback is answered
Use the demand of hot line robot master ＆ slave control strongly.
Invention content
It is an object of the invention to propose a kind of hot line robot force feedback principal and subordinate control based on virtual reality technology
Method and system processed, can accurately, efficiently and safely complete livewire work.
In order to solve the above-mentioned technical problem, the present invention proposes a kind of hot line robot power based on virtual reality technology
Master-slave control method is fed back, main manipulator, mechanical arm and industrial personal computer form hot line robot force feedback master ＆ slave control system；
When main manipulator force-feedback control, industrial personal computer calculates each joint of main manipulator according to the stress data of mechanical arm tail end
Torque data controls each joint output torque of main manipulator by the control interface of main manipulator；
The scalar of tool arm end stress data is six degree of freedom power/torque data, by industrial personal computer according to mechanical arm
End pose data and tip speed data, obtained using being calculated based on virtual reality technology, detailed process is：
Step 1, the corresponding virtual reality scenario of mechanical arm working scene is gradually divided with octave device, structure eight
Fork tree；
Step 2, mechanical arm tail end pose data are obtained, using the end pose data as the centre of sphere, creates and surrounds ball, setting packet
The radius for enclosing ball is the distance of required collision detection；
Step 3, Octree progress collision detection of the ball with step 1, if not colliding, machine are surrounded to step 2
Six degree of freedom power/torque data of tool arm end are zero, if colliding, obtain the number to collide in virtual reality scenario
Strong point calculates collision depth vector according to the data point coordinates to collide and mechanical arm tail end pose data；
Step 4, according to collision depth Vector operation machinery arm end six degree of freedom power/torque data, that is, spring is used to hinder
Buddhist nun's model calculates feedback force,
F=-kx-cv
Wherein, k is spring constant, and x is collision depth vector, and c is damped coefficient, and v is end of arm speed vector, F
For feedback force, scalar is six degree of freedom power/torque data.
Further, step 1 is specially：
Step 1-1 finds out minimum and maximum x coordinate value, y-coordinate value, z coordinate value in virtual reality scenario data, from
And determine the minimum cube for surrounding all virtual reality scenario data, using the cube as the root node of Octree；
Step 1-2 forms eight sub-cubes, as the cubical child node to the cube eight equal parts；
Step 1-3 judges the number of data in its space for each sub-cube；If number is 0, the node
Value be set as empty, do not continue to construct；If number is 1, the value of the node is set to the coordinate of this point, and not continued to
Construction；If number is more than 1, step 1-2 is repeated to the sub-cube；
Step 1-4, the Octree constructed by above step, each of which child node represent a data point or are
It is empty.
Main manipulator statics models, and obtains mechanical arm tail end six degree of freedom power/torque data to each pass of main manipulator
The transformational relation of torque data is saved, industrial personal computer calculates the torque data in each joint of main manipulator according to the transformational relation.
Further, when mechanical arm Pose Control, industrial personal computer is calculated according to the angle-data of each rotary joint of main manipulator
The desired value of end of arm speed vector is moved by the control interface of mechanical arm according to the desired value control machinery arm.
Further, the method for acquisition end of arm speed vector desired value is：With D-H modeling methods to main manipulator
Modeling, obtains the angle-data of each rotary joint of main manipulator to the transformational relation of main manipulator end pose data；Work
Control machine receives the angle-data for each rotary joint that main manipulator is sent, and main manipulator is calculated according to the transformational relation
Then main manipulator end pose data are obtained main manipulator tip speed data by end pose data by differentiating；
According to main manipulator end pose data and tip speed data, mechanical arm end is calculated in operating speed feedforward PID controller
Hold velocity vector desired value.
Further, the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
The present invention also proposes a kind of hot line robot force feedback master ＆ slave control system based on virtual reality technology, packet
Include main manipulator, mechanical arm and industrial personal computer；The main manipulator and mechanical arm are one or more degree-of-freedom manipulator knot
Structure；The main manipulator can acquire the angle-data of each rotary joint, and each rotary joint has torque motor, can be defeated
Go out torque；When main manipulator force-feedback control, it is each to calculate main manipulator according to the stress data of mechanical arm tail end for industrial personal computer
The torque data in joint controls each joint output torque of main manipulator by the control interface of main manipulator；Tool arm end
The scalar of stress data is six degree of freedom power/torque data, by industrial personal computer according to the end pose data of mechanical arm and end
Speed data is obtained using being calculated based on virtual reality technology, and detailed process is：
Step 1, the corresponding virtual reality scenario of mechanical arm working scene is gradually divided with octave device, structure eight
Fork tree；
Step 2, mechanical arm tail end pose data are obtained, using the end pose data as the centre of sphere, creates and surrounds ball, setting packet
The radius for enclosing ball is the distance of required collision detection；
Step 3, Octree progress collision detection of the ball with step 1, if not colliding, machine are surrounded to step 2
Six degree of freedom power/torque data of tool arm end are zero, if colliding, obtain the number to collide in virtual reality scenario
Strong point calculates collision depth vector according to the data point coordinates to collide and mechanical arm tail end pose data；
Step 4, according to collision depth Vector operation machinery arm end six degree of freedom power/torque data, that is, spring is used to hinder
Buddhist nun's model calculates feedback force,
F=-kx-cv
Wherein, k is spring constant, and x is collision depth vector, and c is damped coefficient, and v is end of arm speed vector, F
For feedback force, scalar is six degree of freedom power/torque data.
Further, step 1 is specially：
Step 1-1 finds out minimum and maximum x coordinate value, y-coordinate value, z coordinate value in virtual reality scenario data, from
And determine the minimum cube for surrounding all virtual reality scenario data, using the cube as the root node of Octree；
Step 1-2 forms eight sub-cubes, as the cubical child node to the cube eight equal parts；
Step 1-3 judges the number of data in its space for each sub-cube；If number is 0, the node
Value be set as empty, do not continue to construct；If number is 1, the value of the node is set to the coordinate of this point, and not continued to
Construction；If number is more than 1, step 1-2 is repeated to the sub-cube；
Step 1-4, the Octree constructed by above step, each of which child node represent a data point or are
It is empty.
Main manipulator statics models, and obtains mechanical arm tail end six degree of freedom power/torque data to each pass of main manipulator
The transformational relation of torque data is saved, industrial personal computer calculates the torque data in each joint of main manipulator according to the transformational relation.
Further, when mechanical arm Pose Control, industrial personal computer is calculated according to the angle-data of each rotary joint of main manipulator
The desired value of end of arm speed vector is moved by the control interface of mechanical arm according to the desired value control machinery arm.
Further, the method for acquisition end of arm speed vector desired value is：With D-H modeling methods to main manipulator
Modeling, obtains the angle-data of each rotary joint of main manipulator to the transformational relation of main manipulator end pose data；Work
Control machine receives the angle-data for each rotary joint that main manipulator is sent, and main manipulator is calculated according to the transformational relation
Then main manipulator end pose data are obtained main manipulator tip speed data by end pose data by differentiating；
According to main manipulator end pose data and tip speed data, mechanical arm end is calculated in operating speed feedforward PID controller
Hold velocity vector desired value.
Further, the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
Compared with prior art, the present invention its remarkable advantage is：
(1) equipment that cannot be in direct contact due to mechanical arm in environment carries out force feedback by traditional force snesor
Unreasonable, the present invention exports feedback with Collision Detection by the virtual reality scenario built before mechanical arm collides
Power so that operating personnel experience feedback force, to limit the operation behavior of operating personnel, improve the safety of system；This hair
It is bright further for avoiding the master-slave operation mechanical arm and high voltage alive equipment is caused to collide, reminded and limited by way of force feedback
Operating personnel's further operating processed.
(2) for operating personnel by the end of manipulation main manipulator, the end of livewire work mechanical arm can follow main operation
The posture of hand end, the posture for the main manipulator that operating personnel see are also the posture of livewire work mechanical arm, this to operate
Intuitively, flexibly.So that remote operating is no longer that single posture is given, operating personnel can experience electrification for the introducing of force feedback function
The contact force of Work machine arm and environment possesses preferably operation telepresenc, to improve the convenience and essence of operating robotic arm
Exactness；In addition, feeling feedback by power it can be found that the collision of mechanical arm and environment makes up and only leans on to reduce dangerous generation
The deficiency of inspection operation.The present invention improves automation and the homework precision of robot manipulating task on the whole, while improving operation
Safety.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention；
Fig. 2 is the block diagram of system of aerial lift device with insulated arm in the present invention；
Fig. 3 is the structural schematic diagram of robot platform in the present invention；
Fig. 4 is the structural schematic diagram of mechanical arm in the present invention；
Fig. 5 is the structural schematic diagram of main manipulator in the present invention；
Fig. 6 is the block diagram of force feedback master ＆ slave control system in the present invention；
Fig. 7 is the block diagram of mechanical arm pose closed loop controller in the present invention；
Fig. 8 is the feedback force computational methods schematic diagram based on virtual reality technology in the present invention.
Specific implementation mode
It is readily appreciated that, technical solution according to the present invention, in the case where not changing the connotation of the present invention, this field
Those skilled in the art can imagine the hot line robot force feedback master ＆ slave control the present invention is based on virtual reality technology
The numerous embodiments of method and system.Therefore, detailed description below and attached drawing are only to technical scheme of the present invention
Exemplary illustration, and be not to be construed as the whole of the present invention or be considered as the limitation or restriction to technical solution of the present invention.
In conjunction with attached drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1,3 end of telescopic arm connects robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 drives for operating personnel, to which robot platform 4 is transported operation field.Insulation bucket arm
Support leg is housed, support leg can be unfolded, to which aerial lift device with insulated arm 1 and ground are consolidated support on vehicle 1.On aerial lift device with insulated arm 1
Equipped with generator, to power to control room 2 and telescopic arm 3.
Telescopic arm 3 is equipped with the driving device along telescopic direction, and operating personnel can be by controlling the driving device, thus by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made of insulating materials, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
It is provided with main manipulator in control room 2, mechanical arm is provided on robot platform 4.It is main under the control of industrial personal computer
Operation realizes master ＆ slave control operation with mechanical arm.Industrial personal computer can be divided into the first industrial personal computer and the second industrial personal computer.
As an implementation, the second industrial personal computer, display screen, the first main manipulator, the second master are provided in control room 2
Manipulator, auxiliary main manipulator and communication module etc..
As an implementation, robot platform 4 include insulator 46, it is first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, the first industrial personal computer 48, binocular camera 45, full-view camera 41, depth camera 410, accumulator 49, special
Tool box 47, communication module etc..
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms and robot platform 4 are insulated.
Accumulator 49 is the first industrial personal computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As head 41, binocular camera 45, depth camera 410, communication module power supply.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is equipped with tool quick change
Device.Mechanical arm uses tool fast replacing device to obtain power tool according in the type to tool box special 47 of job task.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range in control room 2
The operating device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relationship.Mechanical arm and main manipulator have same or similar structure, and only main manipulator dimensions is smaller than mechanical arm,
In order to which operating personnel operate.
As one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431, rotary axis direction
The waist joint 432 vertical with base plane, the shoulder joint 433 being connect with waist joint 432, the large arm being connect with shoulder joint 433
434, the elbow joint 435 being connect with large arm 434, the forearm 436 being connect with elbow joint 435, the wrist joint being connect with forearm 436
437, wrist joint 437 is made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；It is described
Each joint all has corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding in mechanism in six degree of freedom
Device 31 is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint；First industrial personal computer root
The movement angle in each joint is calculated according to the space path of the mechanical arm, control servo drive motor is according to the movement angle
Each joint motions of control machinery arm.
As an implementation, the data transmission between robot platform 4 and control room 2 is by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is for realizing light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, fiber optical transceiver for realizing in optical fiber optical signal with
The mutual conversion of electric signal in twisted-pair feeder, to realize the electrical isolation of robot platform 4 and control room 2 in communication.
In above-mentioned band point Work robot, main manipulator, mechanical arm and industrial personal computer composition hot line robot power are anti-
Present master ＆ slave control system.
The main manipulator is the mechanical arm configuration of one or more degree of freedom series connection, can acquire each rotary joint
Angle-data, each rotary joint have torque motor, can output torque, to realize force feedback function.As a kind of reality
Mode is applied, as shown in figure 5, the mechanical arm configuration of six degree of freedom series connection may be used, the angle number of six rotary joints can be acquired
According to, each rotary joint has torque motor, can output torque, to realize force feedback function.
The mechanical arm communicates or similar with main manipulator, is one or more degree-of-freedom manipulator structure, can
Mechanical arm tail end pose data are sent in real time.As an implementation, as shown in figure 4, sixdegree-of-freedom simulation may be used.
Industrial personal computer receives the angle-data for six rotary joints that main manipulator is sent, according to force feedback master ＆ slave control side
Method calculates the desired value of end of arm speed vector, passes through the control interface of mechanical arm, the movement of control machinery arm；It is described
Industrial personal computer calculates main operation according to six degree of freedom power/torque data of mechanical arm tail end according to force feedback master-slave control method
The torque data in six joints of hand controls main manipulator output torque by the control interface of main manipulator.
Force feedback master ＆ slave control of the present invention includes two aspects, when mechanical arm posture control method, i.e., according to master
The angle-data of each rotary joint of manipulator calculates the desired value of end of arm speed vector as controlled quentity controlled variable, passes through machine
The control interface of tool arm, the movement of control machinery arm；Second is that main manipulator force-feedback control method, i.e., according to each degree of freedom of tool arm
Power/torque data, calculates the torque data in each joint of main manipulator, by the control interface of main manipulator, controls main behaviour
Make hand output torque.
Below by taking six degree of freedom main manipulator and mechanical arm as an example, illustrate force feedback master ＆ slave control process.
Mechanical arm posture control method, i.e., the angle-data of six rotary joints sent according to main manipulator are counted in real time
The controlled quentity controlled variable of mechanical arm tail end position and posture is calculated, the controlled quentity controlled variable is end of arm speed vector.Specifically, mechanical arm
Posture control method is divided into following steps：
Step 1, main manipulator Kinematic Model models main manipulator with D-H modeling methods, obtains main manipulator
Transformational relation of the angle-data of six rotary joints to main manipulator end pose data.
Step 2, the transformational relation obtained according to step 1, industrial personal computer receive six rotary joints that main manipulator is sent
Main manipulator end pose data are calculated in angle-data, and main manipulator end pose data are obtained by differentiating
Main manipulator tip speed data.
Step 3, mechanical arm pose closed loop controller is designed, using velocity feed forward PID controller.The master that step 2 is obtained
Mechanical arm controlled quentity controlled variable is calculated according to velocity feed forward PID controller in manipulator end pose data and tip speed data,
That is end of arm speed vector is sent to the control interface of mechanical arm, control machine by end of arm speed vector, industrial personal computer
Tool arm moves.
Main manipulator force-feedback control method calculates master in real time that is, according to the six degree of freedom of mechanical arm power/torque data
The torque data in six joints of manipulator.Specifically, main manipulator force-feedback control method is divided into following steps：
Step 1, main manipulator statics models, and is modeled to main manipulator statics with the principle of virtual work, obtains mechanical arm
The transformational relation of end six degree of freedom power/torque data to six joint torque datas of main manipulator.
Step 2, the transformational relation obtained according to step 1, industrial personal computer is according to six degree of freedom power/torque number of mechanical arm tail end
According to the torque data in six joints of main manipulator being calculated, torque data is sent to the force feedback of main manipulator by industrial personal computer
Control interface makes main manipulator feed back stress.
In the present invention, mechanical arm tail end six degree of freedom power/torque data are the end position according to mechanical arm by industrial personal computer
Appearance data and tip speed data are calculated using the feedback force computational methods based on virtual reality technology and are obtained, and detailed process is：
Step 1, the corresponding virtual reality scenario of mechanical arm working scene is gradually divided with octave device, structure eight
Fork tree.This step is further divided into following steps：
Step 1-1 finds out minimum and maximum x coordinate value, y-coordinate value, z coordinate value in virtual reality scenario data, from
And determine the minimum cube for surrounding all virtual reality scenario data, using the cube as the root node of Octree；
Step 1-2 forms 8 sub-cubes, as the cubical child node to the cube eight equal parts；
Step 1-3 judges the number of data in its space for each sub-cube.If number is 0, the node
Value be set as empty, do not continue to construct；If number is 1, the value of the node is set to the coordinate of this point, and not continued to
Construction；If number is more than 1, step 1-2 is repeated to the sub-cube.
Step 1-4, the Octree constructed by above step, each of which child node represent a data point or are
It is empty.
Step 2, mechanical arm tail end pose data are obtained, using the end pose data as the centre of sphere, creates and surrounds ball, setting packet
The radius for enclosing ball is the distance of required collision detection, that is, judges the minimum range whether mechanical arm is in contact with ambient enviroment,
When mechanical arm tail end at a distance from ambient enviroment be less than the minimum range when, be considered as mechanical arm contacted with ambient enviroment or
Person collides.
Step 3, Octree progress collision detection of the ball with step 1 is surrounded to step 2, if not colliding, then
Six degree of freedom power/torque data of mechanical arm are zero, if colliding, obtain the data to collide in virtual reality scenario
Point calculates collision depth vector according to the data point coordinates to collide and mechanical arm tail end pose data.
Step 4, according to collision depth Vector operation machinery arm end six degree of freedom power/torque data, that is, spring is used to hinder
Buddhist nun's model calculates feedback force, and feedback force F is six-vector, and scalar is mechanical arm tail end six degree of freedom power/torque data.
F=-kx-cv
Wherein, k is spring constant, and x is collision depth vector, and c is damped coefficient, and v is end of arm speed vector, F
For feedback force.
Embodiment
For being collided below to avoid first mechanical arm 43 and charging equipment, illustrate the specific implementation mode of the present invention.
During operating personnel operate the first main manipulator, six rotary joints 501 of the first main manipulator transmission,
502,503,504,505,506 angle-data gives the second industrial personal computer, the second industrial personal computer to be revolved according to six of the first main manipulator
Turn the angle-data in joint to the transformational relation of main manipulator end pose data, the first main manipulator end pose is calculated
Data, and the first main manipulator end pose data are obtained into the first main manipulator tip speed data by differentiating.
Second industrial personal computer is used according to the first main manipulator end pose data and the first main manipulator tip speed data
The controlled quentity controlled variable of first mechanical arm 43, i.e. 43 tip speed vector of first mechanical arm is calculated in velocity feed forward PID controller, the
The controlled quentity controlled variable is sent to the first industrial personal computer by two industrial personal computers, and the first industrial personal computer controls first mechanical arm 43 by control interface and transports
It is dynamic.
First mechanical arm 43 moves closer to charging equipment under the operation of operating personnel, and the second industrial personal computer is according to binocular image
3D virtual reality scenarios are built with depth image, Octree is built to the virtual reality scenario data.Further, it is divided into following step
Suddenly：
Step 1, minimum and maximum x coordinate value, y-coordinate value, z coordinate value in virtual reality scenario data are found out, to
The minimum cube for surrounding all virtual reality scenario data is determined, using the cube as the root node of Octree；
Step 2, to the cube eight equal parts, 8 sub-cubes are formed, as the cubical child node；
Step 3, for each sub-cube, judge the number of data in its space.If number is 0, the node
Value is set as empty, does not continue to construct；If number is 1, the value of the node is set to the coordinate of this point, and does not continue to structure
It makes；If number is more than 1, step 2 is repeated to the sub-cube.
Step 4, the Octree constructed by above step, each of which leaf node represent a data point or are
It is empty.
Second industrial personal computer receives 43 end pose data of first mechanical arm, using the end pose data as the centre of sphere, creates packet
Enclose ball, collision detection carried out with above-mentioned Octree, the data point to be collided, according to the data point coordinates that collides with
43 end pose data of first mechanical arm calculate collision depth vector.According to collision depth vector, using spring damping model meter
Calculate feedback force
F=-kx-cv
Wherein k is spring constant, and x is collision depth vector, and c is damped coefficient, and v swears for 43 tip speed of first mechanical arm
Amount, F are feedback force, and scalar is 43 end six degree of freedom power of first mechanical arm/torque data.
Second industrial personal computer is according to six degree of freedom power/torque data to the conversion of first six joint torque datas of main manipulator
The torque data in first six joints of main manipulator, the second industrial personal computer are calculated according to six degree of freedom power/torque data for relationship
Torque data is sent to the force-feedback control interface of the first main manipulator, the first main manipulator of force-feedback control Interface Controller is every
The torque motor of a rotary joint works, output torque, from making the first main manipulator feed back stress, realizes force feedback function.
The stress that operating personnel feed back according to the first main manipulator adjusts first main behaviour's hand end pose, first main behaviour's hand
Further according to mechanical arm posture control method, the pose of 43 end of adjustment first mechanical arm to avoid collision, improve band
The safety of electric operation.
Claims (10)
1. a kind of hot line robot force feedback master-slave control method based on virtual reality technology, which is characterized in that main behaviour
Make hand, mechanical arm and industrial personal computer composition hot line robot force feedback master ＆ slave control system；When main manipulator force-feedback control,
Industrial personal computer calculates the torque data in each joint of main manipulator, passes through main manipulator according to the stress data of mechanical arm tail end
Control interface, control each joint output torque of main manipulator；
The scalar of tool arm end stress data is six degree of freedom power/torque data, by industrial personal computer according to the end of mechanical arm
Pose data and tip speed data are held, are obtained using being calculated based on virtual reality technology, detailed process is：
Step 1, the corresponding virtual reality scenario of mechanical arm working scene is gradually divided with octave device, eight fork of structure
Tree；
Step 2, mechanical arm tail end pose data are obtained, using the end pose data as the centre of sphere, creates and surrounds ball, ball is surrounded in setting
Radius be required collision detection distance；
Step 3, Octree progress collision detection of the ball with step 1, if not colliding, mechanical arm are surrounded to step 2
Six degree of freedom power/torque data of end are zero, if colliding, obtain the data to collide in virtual reality scenario
Point calculates collision depth vector according to the data point coordinates to collide and mechanical arm tail end pose data；
Step 4, according to collision depth Vector operation machinery arm end six degree of freedom power/torque data, that is, spring damping mould is used
Type calculates stress data,
F=-kx-cv
Wherein, k is spring constant, and x is collision depth vector, and c is damped coefficient, and v is end of arm speed vector, F be by
Force data, scalar are six degree of freedom power/torque data.
2. the hot line robot force feedback master-slave control method based on virtual reality technology as described in claim 1,
It is characterized in that, step 1 is specially：
Step 1-1 finds out minimum and maximum x coordinate value, y-coordinate value, z coordinate value in virtual reality scenario data, to really
Surely the minimum cube for surrounding all virtual reality scenario data, using the cube as the root node of Octree；
Step 1-2 forms eight sub-cubes, as the cubical child node to the cube eight equal parts；
Step 1-3 judges the number of data in its space for each sub-cube；If number is 0, the value of the node
It is set as empty, does not continue to construct；If number is 1, the value of the node is set to the coordinate of this point, and does not continue to structure
It makes；If number is more than 1, step 1-2 is repeated to the sub-cube；
Step 1-4, the Octree constructed by above step, each of which child node represent a data point or are empty.
Main manipulator statics models, and obtains mechanical arm tail end six degree of freedom power/torque data and is turned round to each joint of main manipulator
The transformational relation of square data, industrial personal computer calculate the torque data in each joint of main manipulator according to the transformational relation.
3. hot line robot force feedback master-slave control method as described in claim 1, which is characterized in that mechanical arm pose control
When processed, industrial personal computer calculates the desired value of end of arm speed vector according to the angle-data of each rotary joint of main manipulator,
By the control interface of mechanical arm, moved according to the desired value control machinery arm.
4. hot line robot force feedback master-slave control method as claimed in claim 3, which is characterized in that obtain mechanical arm end
End velocity vector desired value method be：
Main manipulator is modeled with D-H modeling methods, obtains the angle-data of each rotary joint of main manipulator to main behaviour
Make the transformational relation of hand end pose data；Industrial personal computer receives the angle-data for each rotary joint that main manipulator is sent, root
Main manipulator end pose data are calculated according to the transformational relation, main manipulator end pose data are then passed through into differential
Operation obtains main manipulator tip speed data；According to main manipulator end pose data and tip speed data, operating speed
Feedover PID controller, and end of arm speed vector desired value is calculated.
5. any one hot line robot force feedback master-slave control method as described in Claims 1-4, feature exist
In the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
6. a kind of hot line robot force feedback master ＆ slave control system based on virtual reality technology, which is characterized in that including
Main manipulator, mechanical arm and industrial personal computer；The main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure；
The main manipulator can acquire the angle-data of each rotary joint, and each rotary joint has torque motor, can export
Torque；
When main manipulator force-feedback control, industrial personal computer calculates each pass of main manipulator according to the stress data of mechanical arm tail end
The torque data of section controls each joint output torque of main manipulator by the control interface of main manipulator；Tool arm end by
The scalar of force data is six degree of freedom power/torque data, by industrial personal computer according to the end pose data of mechanical arm and end speed
Degrees of data is obtained using being calculated based on virtual reality technology, and detailed process is：
Step 1, the corresponding virtual reality scenario of mechanical arm working scene is gradually divided with octave device, eight fork of structure
Tree；
Step 2, mechanical arm tail end pose data are obtained, using the end pose data as the centre of sphere, creates and surrounds ball, ball is surrounded in setting
Radius be required collision detection distance；
Step 3, Octree progress collision detection of the ball with step 1, if not colliding, mechanical arm are surrounded to step 2
Six degree of freedom power/torque data of end are zero, if colliding, obtain the data to collide in virtual reality scenario
Point calculates collision depth vector according to the data point coordinates to collide and mechanical arm tail end pose data；
Step 4, according to collision depth Vector operation machinery arm end six degree of freedom power/torque data, that is, spring damping mould is used
Type calculates feedback force,
F=-kx-cv
Wherein, k is spring constant, and x is collision depth vector, and c is damped coefficient, and v is end of arm speed vector, and F is anti-
Power is presented, scalar is six degree of freedom power/torque data.
7. the hot line robot force feedback master ＆ slave control system based on virtual reality technology as claimed in claim 6,
It is characterized in that, step 1 is specially：
Step 1-1 finds out minimum and maximum x coordinate value, y-coordinate value, z coordinate value in virtual reality scenario data, to really
Surely the minimum cube for surrounding all virtual reality scenario data, using the cube as the root node of Octree；
Step 1-2 forms eight sub-cubes, as the cubical child node to the cube eight equal parts；
Step 1-3 judges the number of data in its space for each sub-cube；If number is 0, the value of the node
It is set as empty, does not continue to construct；If number is 1, the value of the node is set to the coordinate of this point, and does not continue to structure
It makes；If number is more than 1, step 1-2 is repeated to the sub-cube；
Step 1-4, the Octree constructed by above step, each of which child node represent a data point or are empty.
Main manipulator statics models, and obtains mechanical arm tail end six degree of freedom power/torque data and is turned round to each joint of main manipulator
The transformational relation of square data, industrial personal computer calculate the torque data in each joint of main manipulator according to the transformational relation.
8. hot line robot force feedback master ＆ slave control system as claimed in claim 6, which is characterized in that mechanical arm pose control
When processed, industrial personal computer calculates the desired value of end of arm speed vector according to the angle-data of each rotary joint of main manipulator,
By the control interface of mechanical arm, moved according to the desired value control machinery arm.
9. hot line robot force feedback master ＆ slave control system as claimed in claim 8, which is characterized in that obtain mechanical arm end
End velocity vector desired value method be：
Main manipulator is modeled with D-H modeling methods, obtains the angle-data of each rotary joint of main manipulator to main behaviour
Make the transformational relation of hand end pose data；Industrial personal computer receives the angle-data for each rotary joint that main manipulator is sent, root
Main manipulator end pose data are calculated according to the transformational relation, main manipulator end pose data are then passed through into differential
Operation obtains main manipulator tip speed data；According to main manipulator end pose data and tip speed data, operating speed
Feedover PID controller, and end of arm speed vector desired value is calculated.
10. any one hot line robot force feedback master-slave control method as described in claim 6 to 9, feature exist
In the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
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