CN108791560A - It is a kind of can coordinated regulation multi-foot robot single leg operation and body translation remote control system and control method - Google Patents
It is a kind of can coordinated regulation multi-foot robot single leg operation and body translation remote control system and control method Download PDFInfo
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Abstract
It is a kind of can coordinated regulation multi-foot robot single leg operation and body translation remote control system and control method, it is related to multi-foot robot when in face of obstacle environment, it is a kind of to maintain stable machine nargin and to greatest extent the remote operating mode of hoisting machine people environmental interaction ability.The remote control system of multi-foot robot of the present invention propose can Collaborative Control list leg operation and body translation remote operating scheme, establish the kinetic model of the complete machine kinematics model and operable leg under coupling, design the remote operating subsystem of body layer and single leg layer, the absolute stability criteria coupled using multiple degrees of freedom solves body layer control law parameter, is improved to single leg layer control framework based on non-linear force observer and self-adaptive robust controller.Itd is proposed control method can ensure that multi-foot robot generates stable remote control system under obstacle environment, and good power transparency is had both while meeting tracking accuracy.The present invention is suitable for the remote operating field of multi-foot robot.
Description
Technical field
The invention belongs to legged type robot teleoperation fields, and in particular to one kind is directed under obstacle environment and promotes polypody
The new method of tele-robotic system controllability and adaptability.
Background technology
Multi-foot robot is relied on because of the configuration feature of its own multiple degrees of freedom redundancy when in applied to non-structure environment
The high stable nargin led leg under the walking manner switched in succession with support leg and polypody support, makes it compared with other types machine
People has stronger environmental suitability and task operability.However, under operative scenario complicated and changeable, due to polypody machine
Device people is likely encountered local breaks in the process of walking, unstability action restores and the actual conditions such as target object interaction,
It needs to formulate at this time there is targetedly remote operating strategy, ensure that it is good that multi-foot robot remote control system can have with this
Controllability and environmental suitability.Multi-foot robot multiple target can be designed using the working condition of obstacle environment as background as a result,
The remote control system of various dimensions.
In view of the above-mentioned problems, maximizing the operable energy for promoting multi-foot robot under the premise of to ensure stable machine nargin
Power is target, design can coordinated regulation multi-foot robot single leg operation and body translation remote operating scheme.Wherein main solution
Determined influence for system tenacious tracking of multiple degrees of freedom coupling in body translation motion and single leg operation when it is unknown
The influence of model parameter, changeable contact condition and immeasurablel operating force to systematic tracking accuracy and power transparency.It is set
Count multi-foot robot remote control system using how main list from remote operating pattern, and entire remote control system is resolved into two sons
System：Body layer and single leg layer, propose two sets of control frameworks and algorithm respectively：Body layer is taken based on the control of position tracking
Framework, single leg layer then use the 4 channels control framework of fusion non-linear force algorithm for estimating and adaptive robust control strategy.
In addition, the absolute stability criteria based on multiple degrees of freedom coupled system carries out the control law parameter of body layer remote operating subsystem
Rational Design on Plane, and with the adaptive law of the single leg layer controller parameter of liapunov function determination.
Invention content
The present invention is to solve to be in obstacle environment when multi-foot robot（Local environment exist collapse, obstacle and mesh
Mark object）When, the problem of controllability and environmental suitability deficiency present in conventional multi-foot robot remote control system, is abundant
The sport potential for playing multi-foot robot overcomes environmental constraints complicated and changeable for the influence of multi-foot robot ability to work,
Now propose it is a kind of can coordinated regulation multi-foot robot single leg operation and body translation remote control system and control method.
For can coordinated regulation multi-foot robot the operation of single leg and body translation remote control system and control method, it is main
It is divided into four parts：The formulation of multi-foot robot remote operating scheme under obstacle environment；Multi-foot robot remote operating under obstacle environment
The foundation of system；Multi-foot robot body layer remote operating subsystem modeling controls the design of framework and control algolithm；Polypody machine
Device people's list leg layer remote operating subsystem modeling controls the design of framework and control algolithm.
It is described it is a kind of can coordinated regulation multi-foot robot the operation of single leg and body translation remote control system and control
Method specifically includes following steps：
Step 1：According to non-structural bow strip under the design feature of multi-foot robot itself multiple degrees of freedom redundancy and obstacle environment
The restriction of part, to promote the controllability and adaptability of multi-foot robot remote control system, design is based on body translation and single leg
Operate the remote operating scheme of coordinated regulation；
Step 2：The remote operating scheme formulated according to step 1, by the slave end system during multi-foot robot and environmental interaction
Regard an operable mechanical arm with mobile foundation as, the group of polypody machine remote control system under obstacle environment is built with this
At part, specifically include：Body layer remote operating subsystem and single leg layer remote operating subsystem；
Step 3：Remote control system constructed by step 2 determines the control framework of body layer remote operating subsystem, establishes machine
The model at body layer remote operating subsystem principal and subordinate end, designs the control algolithm of body layer remote operating subsystem on this basis, and leads to
The absolute stability criteria of excessive Degree-of-freedom Coupling system solves control law parameter；
Step 4：Remote control system constructed by step 2 determines the control framework of list leg layer remote operating subsystem, establishes single
The model at leg layer remote operating subsystem principal and subordinate end designs the control algolithm of single leg layer remote operating subsystem, and profit on this basis
Control law is designed with liapunov function.
The present invention has following advantageous effect：
It is described it is a kind of can coordinated regulation multi-foot robot the operation of single leg and body translation remote control system and control method,
On the one hand, it by designing the remote operating scheme of single leg operation and body translation coordinated regulation, will be translated from the body of end robot
Amount and the position command of body layer main side robot carry out tracking and matching, while will be from the displacement of the operable leg end of end robot
Amount and the position command of the main sides Dan Tuiceng robot are mapped into line trace, are realized maximum while maintaining stable machine nargin
The working space and ability to work of the promotion multi-foot robot of degree；On the other hand it is based on position tracking Model Design polypody machine
The bilateral control framework of device human organism layer remote operating subsystem, ensure that there are the stable machine of multiple degrees of freedom coupling effect with
Track, while based on the bilateral control pattern of power-position mixing control model design multi-foot robot list leg layer remote operating subsystem, protecting
Having demonstrate,proved system has higher position tracking precision, and has both preferable power transparency.
Description of the drawings
Fig. 1 is multi-foot robot remote control system composition schematic diagram；
Fig. 2 is multi-foot robot remote operating control flow schematic diagram；
Fig. 3 is the structural schematic diagram of body layer main side robot；
Fig. 4 is the body construction schematic diagram from end robot；
Fig. 5 is the structural schematic diagram of the main sides Dan Tuiceng robot；
Fig. 6 is single leg operation chart from end robot；
Fig. 7 is the control configuration diagram of body layer remote operating subsystem；
Fig. 8 is the control configuration diagram of single leg layer remote operating subsystem.
Fig. 9 is the remote operating configuration diagram of the operation of coordinated regulation multi-foot robot list leg and body translation.
Specific implementation mode
Specific implementation mode 1：Described in present embodiment it is a kind of can coordinated regulation multi-foot robot single leg operation and machine
The remote control system of body translation, it is necessary first to determine the remote operating scheme of system, the remote operating of multi-foot robot under obstacle environment
Scheme includes：Design whole control flow, mapping mode and the force feedback pattern of remote control system, the remote control system
Whole control flow be designed based on different operative scenario and mission requirements；The remote operating pattern of the system is using more
Main list from control mode, one of main side robot is responsible for controlling the body translational movement from end robot, another main side
Robot is responsible for controlling the displacement from the operable leg end of end robot, and remote control system can realize polypody machine in such a mode
The coordinated regulation of the operation of single leg and body translation of device people.
Specific implementation mode 2：Described in present embodiment it is a kind of can coordinated regulation multi-foot robot single leg operation and machine
The remote control system of body translation, is divided into two parts by the remote control system of multi-foot robot：Body layer remote operating subsystem and list
Leg layer remote operating subsystem；The composition of multi-foot robot remote control system, specifically includes operating side 1 and ring with reference to shown in attached drawing 1
Border end 2, body layer main side robot 3, body layer main side controller 4, body layer is from side controller 5, from the body of end robot
6, Dan Tuiceng main side robots 7, single leg layer main side controller 8, single leg layer is from side controller 9, from the operable leg of end robot
10 and communication port 11.
Specific implementation mode 3：Present embodiment is can coordinated regulation polypody machine for one kind described in specific implementation mode 1
The whole control flow of single leg operation of device people and the remote control system of body translation is described further, in the present embodiment,
With reference to the whole control flow of multi-foot robot remote control system shown in attached drawing 2, control that can be by three kinds of operative scenarios to being proposed
Flow processed is described：Scene 14：When appearance part can go beyond obstacle in the working space from end robot 12, operate at this time
Person can control it according to operator's by the main sides Dan Tuiceng robot to carrying out manual intervention from the operable leg of end robot
Intention is interacted with target disorders 13；Scene 15：When the operable leg from end robot is steady and sure on the surface of target disorders 13
Afterwards, since the target that the leg has had moved away from contexture by self falls foot point, from end, robot 12 is needed in original movement side at this time
It is maintained upward by the stability margin of body, therefore operator can be by controlling body layer main side robot to the body from end robot
Translational movement is regulated and controled.Scene 16：Foot is full to target disorders 13 from the body of end robot and operable leg at this time
Crossing condition, operator can regulate and control the main sides Dan Tuiceng robot again, cross over partial barriers to complete single leg, and find
New falls sufficient position.
Specific implementation mode 4：Present embodiment is can coordinated regulation polypody machine for one kind described in specific implementation mode 1
Single leg operation of device people and the remote control system mapping mode of body translation are described further, in the present embodiment, with reference to attached
The structure of the robot of body layer main side shown in Fig. 3, the wherein handle 17 of body layer main side robot have 3 in its working space
A degree of freedom, along the position command of X-direction 18 respectively in the working space of handle, along Y-axis in handle working space
The position command 19 in direction, along the position command of Z-direction 20 in the working space of handle；
From end robot body structural model with reference to shown in attached drawing 4, wherein from the artificial electric drive Hexapod Robot of terminal device, six foots
Robot is made of body and the identical leg of six configurations, when being in the working condition that body translates from end robot, packet
It includes all 18 joints including 15 of support leg support joints 21 and 3 operation joints 22 of operable leg and is responsible for combining and push away
The dynamic body from end robot completes translational motion, includes from the controlled degree of freedom of terminal device human organism at this time：Along body coordinate
It is the translational movement 23 of X-direction, along the translational movement 24 of body coordinate system Y direction, along the translational movement of body coordinate system Z-direction
25；
The remote operating pattern of designed body layer remote operating subsystem is：Body layer main side robot edge in handle working space
X-direction position command 18 mapping from end robot body along body coordinate system X-direction translational movement 23；Body layer master
Robot is held to map the body from end robot along body coordinate along the position command of its Y direction 19 in handle working space
It is the translational movement 24 of Y-axis；Body layer main side robot handle maps in handle working space along the position command of Z-direction 20
From end robot body along body coordinate system Z axis translational movement 25.
Specific implementation mode 5：Present embodiment is can coordinated regulation polypody machine for one kind described in specific implementation mode 1
Single leg operation of device people and the remote control system mapping mode of body translation are described further, in the present embodiment, with reference to attached
The structure of the robots of Dan Tuiceng main sides shown in Fig. 5, the wherein main sides Dan Tuiceng robot have 3 degree of freedom, and end 26 is in its work
Make that output position instruction 27 can be moved in space along X-direction, moves output position instruction 28 along Y direction, moved along Z-direction
Dynamic output position instruction 29；
From single leg operation chart of end robot with reference to shown in attached drawing 6, when the work shape operated from end robot in single leg
When state, the controlled degree of freedom of operable leg end 30 includes：Along the displacement 31 of ending coordinates system X-direction, along ending coordinates
It is the displacement 32 of Y direction, along the displacement 33 of ending coordinates system Z-direction；
The remote operating pattern of designed list leg layer remote operating subsystem is：Single leg layer main side robot end 26 is in its working space
It is interior to move the mapping of position command 27 of output from end robot operable leg end 30 along X-axis side of ending coordinates system along X-direction
To displacement 31；Single leg layer main side robot end 26 moves the position command of output in its working space along Y direction
28 mappings are from the end operable leg end 30 of robot along the displacement 32 of ending coordinates system Y direction；The main sides Dan Tuiceng robot
The mapping of position command 29 of output is moved along Z-direction in its working space from the operable leg end of end robot 30 in end 26
Along the displacement 33 of ending coordinates system Z-direction.
Specific implementation mode 6：Present embodiment is can coordinated regulation polypody machine for one kind described in specific implementation mode 1
Single leg operation of device people and the remote control system force feedback pattern of body translation are described further, in the present embodiment, it is assumed that
Relative sliding does not occur for the contact between operable leg end and target object, and designed force feedback pattern is shown as：It is right
When being regulated and controled from the body translational movement of end robot, the position in the controller internal simulation body translation motion of body layer main side
Tracking error is set, and feeds back to the corresponding tactile directed force of operator.To the displacement from the operable leg end of end robot
When being regulated and controled, since operable leg is in the motion state that free space mutually switches with constraint space, it is therefore desirable to by this
Leg acts on end environmental forces in the position tracking error and contact process during free movement is sent to list in real time
Leg layer main side controller allows operator that can more really perceive the work from the operable leg of end robot in this way
State.
Specific implementation mode 7：Described in present embodiment it is a kind of can coordinated regulation multi-foot robot single leg operation and machine
The remote operating control method of body translation specifically includes the control framework and control method of design body layer remote operating subsystem, behaviour
Author is quantified by body layer main side robot from the position control instruction of terminal device human organism, and body layer is from side controller by machine
Body movable information is sent to body layer main side controller and forms tactile directed force and feed back to operator；The single leg layer remote operating of design
The control framework and control method of subsystem, operator are quantified by the main sides Dan Tuiceng robot from the operable leg end of end robot
The location information of operable leg and force information are sent to single leg layer main side by the position control instruction at end, single leg layer from side controller
Controller forms tactile directed force and feeds back to operator；The bottom controller of multi-foot robot remote control system is designed, is realized
The angular speed that exports needed for the electric drive joint of end robot independently tracks position control instruction and the operable leg end of body
The position control instruction at end.
Specific implementation mode 8：Present embodiment is can coordinated regulation polypody machine for one kind described in specific implementation mode 7
Bottom controller in single leg operation of device people and the remote operating control method of body translation is described further, the present embodiment
In, joint control algorithm is designed in bottom controller；
The embedded kinematics model from end robot list leg of the bottom controller, is solved according to body layer from side controller
Whole support leg joints target rotation angles, further according to the target for the operable leg end that single leg layer is solved from side controller
Position obtains the target rotation angle exported needed for 3 joints of operable leg by inverse Jacobian matrix operation, will solve whole legs
Joint rotation angle integrated, it is practical to drive leg intra-articular then by the closed loop PID/feedback control algolithm of designed articulamentum
The motor set is completed from the task held specified by robot.
Specific implementation mode 9：Present embodiment is can coordinated regulation polypody machine for one kind described in specific implementation mode 7
The control framework of body layer remote operating subsystem is made into one in single leg operation of device people and the remote operating control method of body translation
Step illustrates, in the present embodiment, with reference to shown in Fig. 7, operator controls body layer main side robot carry-out bit in three directions
Instruction is set, which is converted by the impedance Control Model 35 of body layer main side robot, is controlled in conjunction with body layer main side
Position command transmitted by the robot of body layer main side is converted into the desired translation instruction of body and is sent to from end by system rule 36
The body of robot, it is expected that translational movement pass through from the kinematics model 37 of terminal device human organism-mono- leg coupling be converted into from
The physical location of terminal device human organism, under the action of body layer is from end control law parameter 38, by the resistance at body layer environment end
Anti- model 39, converting thereof into leads to the applied external force of position tracking difference occur from terminal device human organism, by this external work
Tactile force information is firmly simulated and is converted into the controller of body layer main side, via operator itself arm in body layer
Impedance model, updated body expectation instruction is iterated in body layer main side robot 3.
Specific implementation mode 10：Present embodiment is can coordinated regulation polypody for one kind described in specific implementation mode 7
Robot single leg operation and body translation remote operating control method in body layer remote operating subsystem control method make into
One step illustrates that the control method specifically includes following steps：
Step 1：Dynamic Modeling is carried out to body layer main side robot, to establish the impedance control of body layer main side robot
Model；
Step 2：By analysis, from end robot, the operation of coordinated regulation list leg and body under obstacle environment translate during institute
Existing coupling effect establishes the slave terminal device human organism's kinematics model considered under coupling；
Step 3：The control algolithm of body layer remote operating subsystem is designed：
Step 3.1：The impedance Control Model of body layer remote operating subsystem is established based on two-port network technology in circuitry, it will
The position command of body layer main side robot by designed control law parameter with from the expectation translational movement of terminal device human organism
Mapped, then slave terminal device human organism's kinematics model by being planned in step 2, determine exist under single leg coupling from
Hold the body of robot along three directions of body reference axis（It is lateral, longitudinal, vertical）On kinetic characteristic, by body it is expected translate
Amount is converted into the expectation corner in whole joints including all support legs and operable leg, passes through each intra-articular motor support body
Translation, the physical location of body is can be obtained by body layer environment terminal impedance model 39；
Step 3.2：It is poor to make the practical translational movement of body and desired translational movement from side controller in body layer, then will lead to position
It sets the applied external force that difference occurs in tracking process and tactile force information is simulated and formed in the controller of body layer main side, control
Force feedback motor in body layer main side robot processed exports this haptic force, and operator arrives via body layer main side robot perception
This force information, then via the impedance operator of itself is converted into new position command and exports again to give body layer main side robot；
Step 4：Analyze the terminal of multiple degrees of freedom body layer remote operating subsystem（Operating side and environment end）And master & slave control rule
Between existing coupling influence, by the absolute stability criteria of multiple degrees of freedom coupled system, to body layer remote operating subsystem
Control law parameter solved, it is ensured that the stability of designed body layer remote operating subsystem.
Specific implementation mode 11：Present embodiment is can coordinated regulation polypody for one kind described in specific implementation mode 7
In the remote operating control method of the operation of single leg and the body translation of robot the control framework of single leg layer remote operating subsystem make into
One step illustrates, in the present embodiment, with reference to shown in Fig. 8, operator is by controlling the end of the main sides Dan Tuiceng robot at three
Output position instructs on direction, is applied to operator based on non-linear force observer 44 designed in the controller of single leg layer main side
Operating force in the robot of the main sides Dan Tuiceng is estimated, in single leg layer main side under the action of the operating force gain 41 of system,
In conjunction with single leg layer main side system Partial controll rule 41, position command is passed through to the impedance Control Model 45 of the main sides Dan Tuiceng robot
It is converted, to obtain the expectation displacement of operable leg end and be sent to single leg layer from side controller, then by single leg layer
The designed self-adaptive robust controller 48 out of side controller is eliminated from the operable leg Coupling Dynamic Model of end robot
The influences of unknown parameters and extraneous unknown disturbance will estimate on this basis via non-thread power in the controller of single leg layer main side
The operating force obtained estimated by gauge under the action of operating force gain 46 of single leg layer from end system, in conjunction with single leg layer from end be
It unites Partial controll rule 47, forms power-Position Hybrid Control of single leg layer out of side controller, it would be desirable to which displacement is by from terminal
The Coupling Dynamic Model 49 of the operable leg of device people and the impedance model 50 at single leg layer environment end are converted thereof into from terminal device
The physical location of the operable leg end of people；Due to from the end operable leg of robot under free movement and contiguity constraint two states
It is mutual switching the position tracking of end and force tracking can be caused to fluctuate, by force tracking information in single leg layer remote operating subsystem
It unites under the action of control law 43, is sent to single leg layer main side controller, is directly used in power closed-loop control, in conjunction with single distant behaviour of leg layer
The control law 42 for making subsystem, position tracking information and force tracking information to single leg layer remote operating subsystem principal and subordinate both ends carry out
Fusion focuses on the information that be useful for closed loop power controls in the controller of single leg layer main side, to treated power
Corresponding tactile force information is simulated and exported to feedback information, via operator itself arm single leg layer impedance model
50, the expectation instruction of updated operable leg end is iterated in the main sides Dan Tuiceng robot 7.
Specific implementation mode 12：Present embodiment is can coordinated regulation polypody for one kind described in specific implementation mode 7
In the remote operating control method of the operation of single leg and the body translation of robot the control method of single leg layer remote operating subsystem make into
One step illustrates that the control method specifically includes following steps：
Step 1：Dynamic Modeling is carried out to the main sides Dan Tuiceng robot, to establish the impedance control of the main sides Dan Tuiceng robot
Model；
Step 2：By analysis, from end robot, the operation of coordinated regulation list leg and body under obstacle environment translate during institute
Existing coupling effect is established and is considered under coupling from the kinetic model of the operable leg of end robot；
Step 3：The control algolithm of single leg layer remote operating subsystem is designed：
Step 3.1：The impedance Control Model of single leg layer remote operating subsystem is established based on two-port network technology in circuitry, it will
The position command of the main sides Dan Tuiceng robot passes through designed control law parameter and the phase from the operable leg end of end robot
It hopes position maps mutually, determines when there are body translation and the coupling of contact environment from the operable leg end of end robot
Along three directions of its working space（It is lateral, longitudinal, vertical）On kinetic characteristic, then the slave terminal device by being planned in step 2
The Coupling Dynamic Model of the operable leg of people and operating force algorithm for estimating in the controller of single leg layer main side and single leg layer are from end
The expectation displacement of operable leg end is converted into 3 joints of operable leg by the adaptive robust control algorithm in controller
Expectation corner, drive operable leg to complete to swing and contact by motor built in joint, by the environment end by single leg layer
Impedance model can be obtained the physical location of operable leg end；
Step 3.2：The position tracking difference of operable leg end and environment end are acted on into end from side controller in single leg layer
Contact force on end is merged, then by after fusion position tracking information and force tracking information in the controller of single leg layer main side
Tactile force information is simulated and is formed, the force feedback motor in the robot of the main sides control Dan Tuiceng exports this haptic force, operates
Person, to this force information, then via the impedance operator of itself, is converted into new position command via single leg layer main side robot perception
Again it exports and gives the main sides Dan Tuiceng robot；
Step 4：The attribute design list leg layer remote operating subsystem of the 4 channel remote operating frameworks based on power-Position Hybrid Control
Control law parameter, and by liapunov function to the adaptive law of the parameter to be estimated in single leg layer remote operating subsystem into
Row construction, it is ensured that the stability and the transparency of designed list leg layer remote operating subsystem.
Claims (6)
1. it is a kind of can coordinated regulation multi-foot robot single leg operation and body translation remote control system, it is characterised in that：Institute
The remote control system for the multi-foot robot stated includes：Body layer remote operating subsystem, single leg layer remote operating subsystem, bottom control
Device and communication port；
The body layer remote operating subsystem includes：Body layer main side system and body layer are from end system；
The body layer main side system includes：Body layer main side robot and body layer main side controller；
The body layer includes from end system：From the body and body layer of end robot from side controller；
Single leg layer remote operating subsystem include：Single leg layer main side system and single leg layer are from end system；
Single leg layer main side system includes：The main sides Dan Tuiceng robot and single leg layer main side controller；
Single leg layer includes from end system：From the operable leg of end robot and single leg layer from side controller.
2. it is according to claim 1 it is a kind of can coordinated regulation multi-foot robot single leg operation and body translation remote operating
System, it is characterised in that：
The artificial 3DOF joint type tactile force feedback equipment of single leg layer main side machine is used for quantization operation person couple
It is intended in from the operation of the operable leg position of end robot, exports corresponding tactile directed force and feed back to operator, it is auxiliary with this
Operator is helped to complete to the operation task from the operable leg position of end robot；
Described single leg layer main side controller on the one hand for by single leg layer main side robot end in working space three sides
To position command be converted into the position command from end robot operable leg end three directions in working space, and by this
Single leg layer is sent to from side controller through communication port as control signal, and being on the other hand responsible for will be from the operable leg of end robot
Position tracking information and force tracking information between the robot of the main sides Dan Tuiceng are merged and are converted into tactile force information, control
The force feedback motor of system single leg layer main side robot built-in exports corresponding tactile directed force；
The artificial electric drive Hexapod Robot of slave terminal device, every leg configuration is identical and all has three cradle heads, and
The mode being centrosymmetric is distributed in body surrounding, and each joint is driven by motor；
The operable leg from end robot indicates the controlled device in single leg layer remote operating subsystem from end robot
For the displacement in sufficient end three directions in working space of any one operable leg, wherein being respectively along sufficient end coordinate system X
The length travel amount of axis direction, along the lateral displacement amount of sufficient end coordinate system Y direction and hanging down along sufficient end coordinate system Z-direction
To displacement；
Single leg layer is from side controller, for embed the position command of received operable leg by controller
Operable leg kinetic model and single leg layer control algolithm, are converted into the control input quantity from the operable leg of end robot, and
The control input quantity is sent to the bottom controller from end robot, being on the other hand responsible for will be from end robot operable leg
Actual force between physical location and operable leg end and contact environment is sent to single leg layer master by communication port
Side controller；
The artificial 3DOF parallel connection type tactile force feedback equipment of the body layer main side machine is used for quantization operation person couple
It is intended in from the operation of terminal device human organism's translational movement, exports corresponding tactile directed force and feed back to operator, assisted with this
Operator completes the operation task to being translated from terminal device human organism；
On the one hand the body layer main side controller is used for the position command in three directions of body layer main side robot handle
It is converted into from the translation of terminal device human organism and instructs, and this is sent to body layer through communication port as control signal and is controlled from end
On the other hand device processed is responsible for that the external force for position tracking error occur from terminal device human organism's translation motion will be caused to be converted into
The force feedback motor of tactile force information, control body layer main side robot built-in exports corresponding tactile directed force；
The body from end robot indicates that from controlled device of the end robot in body layer remote operating subsystem be machine
The translational movement of body in three directions, wherein being respectively the longitudinal translation amount along body coordinate system X-direction, along body coordinate system
The transverse translation amount of Y direction and vertical translational movement along body coordinate system Z-direction；
The body layer from side controller, on the one hand be used for will receive body translation instruction by controller embed from
Terminal device human organism kinematics model and body layer control algolithm are converted into the control input quantity from terminal device human organism, and
The control input quantity is sent to the bottom controller from end robot, is on the other hand responsible for translate from terminal device human organism
Position tracking information in journey is sent to body layer main side controller by communication port；
The bottom controller from end robot, for receiving body layer remote operating subsystem and single leg layer remote operating subsystem
The target rotation angles exported needed for whole joints including remaining 5 leg and operable leg that system is solved, then pass through articulamentum control
Device processed drives the motor built in each joint in each leg to complete specified rotating requires.
3. it is a kind of can coordinated regulation multi-foot robot list leg operation and body translation remote operating control method, it is characterised in that：
It is described can coordinated regulation multi-foot robot list leg operation and body translation remote operating control method particularly may be divided into following steps：
Step 1：It is proposed can coordinated regulation multi-foot robot single leg operation with body translation remote operating pattern, design bottom control
Articulamentum control algolithm in device processed；
Step 2；For in body layer remote operating subsystem body layer main side robot and from end robot body built
Mould designs the control framework and control algolithm of body layer remote operating subsystem, designs body layer remote operating subsystem on this basis
The force feedback pattern of system；
Step 3：For in single leg layer remote operating subsystem the main sides Dan Tuiceng robot and from end robot operable leg into
Row modeling, designs the control framework and control algolithm of single leg layer remote operating subsystem, designs single leg layer remote operating on this basis
The force feedback pattern of subsystem.
4. it is according to claim 3 it is a kind of can coordinated regulation multi-foot robot list leg operation and body translation remote operating control
Method processed, which is characterized in that described in step 1 can coordinated regulation multi-foot robot single leg operation with body translation distant behaviour
Operation mode shows as remaining leg when multi-foot robot and is in holding state, when wherein one leg is in free movement state, behaviour
Author can individually intervene this operable leg, also can carry out control simultaneously to the translation of body and the operation of single leg,
Coordinated regulation body translates and the matching scheme design of single leg operation is as follows：Single leg layer main side robot end is in its working space
The interior position command mapping along X-axis from the operable leg end of end robot in sufficient end coordinate system in X direction on displacement；It is single
Leg layer main side robot end maps from the operable leg end of end robot along the position command of Y-axis in foot in its working space
Hold the displacement in Y-direction in coordinate system；Single leg layer main side robot end is in its working space along the position command of Z axis
Map the displacement in sufficient end coordinate system in Z-direction from the operable leg end of end robot；Body layer main side robot end
End maps from terminal device human organism along the position command of X-axis in global coordinate system flat in X direction in its working space
Shifting amount；Body layer main side robot end maps from terminal device human organism along the position command of Y-axis complete in its working space
Translational movement in office's coordinate system in Y-direction；Body layer main side robot end is in its working space along the position command of Z axis
Map the translational movement from terminal device human organism in global coordinate system in Z-direction；
Articulamentum control algolithm in the design bottom controller, shows as during multi-foot robot remote operating, base
Remaining leg for being calculated in body layer remote operating subsystem controls algorithm and single leg layer remote operating subsystem controls algorithm and can
Whole joint target rotation angle including operation leg, then pass through the articulamentum controller driving leg for embedding PID closed loop control algorithms
Motor built in joint turns over specified angle.
5. it is according to claim 3 it is a kind of can coordinated regulation multi-foot robot single leg operation and body translation remote operating
Control method, it is characterised in that：Being built for body layer main side robot and from the body of end robot described in step 2
Mould, initially sets up the kinetic model of body layer main side robot, then analyzes and is operated in the translation of coordinated regulation body and single leg
In the case of, the free movement and contact operation of operable leg are final to establish to coupling influence caused by body translation state
Consider slave terminal device human organism's kinematics model under single leg operation and body translation coupling；
The control framework of the body layer remote operating subsystem, using 2 channel control models of position-position tracking, i.e. body
Layer main side controller will be sent to body layer from side controller from the desired body translation instruction of end robot through communication port, will
The equivalent action power for occurring position tracking error in body translation motion is caused to be simulated in the controller of body layer main side, and
Operator is fed back in the form of haptic force；
The control algolithm of the body layer remote operating subsystem is shown as in body layer remote operating subsystem by tracking principal and subordinate
The body position difference design bilateral control rule at end, the mixing based on two-port network model construction body layer remote operating subsystem
Matrix recycles the absolute stability criterion of multiple degrees of freedom coupled system to seek the stability range of designed control law parameter
Solution；
The force feedback pattern of the body layer remote operating subsystem is embodied in will act on body and position tracking is caused to miss
The equivalent action power of difference carries out simulation in the controller of body layer main side and forms tactile directed force, passes through body layer main side robot
The tactile directed force is fed back into operator, wherein when desired body position command is more than actual body translational movement, it will
One resistance is generated in the robot of body layer main side so that operator perceives currently from the position tracking of terminal device human organism
Scarce capacity should not continue growing desired position command；On the contrary, if it is desired to body position command be less than actual machine
When body translational movement, one pulling force will be generated in the robot of body layer main side so that operator perceives currently from end robot
The position tracking ability of body gets a promotion, and can continue growing desired body position command.
6. it is according to claim 3 it is a kind of can coordinated regulation multi-foot robot single leg operation and body translation remote operating
Control method, it is characterised in that：Described in step 3 for the main sides Dan Tuiceng robot and from end robot operable leg into
Row modeling, initially sets up the kinetic model of the main sides Dan Tuiceng robot, then analyzes in the operation of coordinated regulation list leg and body
In the case of translation, external contact constraint and body translation motion to coupling influence caused by operable leg motion state,
It is final establish consider body translation and single leg operate under coupling from the operable leg kinetic model of end robot；
The control framework of the pose layer remote operating subsystem, using 4 channel control models of power-position mixing, i.e., single leg layer
Main side controller will be sent to single leg layer through communication port from the desired locations instruction of the operable leg end of end robot and be controlled from end
Device processed will be merged from end robot operable leg end location information during the work time and force information, and in single leg
It is simulated in the controller of layer main side；
The control algolithm of the pose layer remote operating subsystem is shown as in single leg layer remote operating subsystem to conventional force-position
The 4 channel control models for setting mixing are improved, and non-linear force algorithm for estimating is designed in the controller of single leg layer main side for estimating
Meter operator is applied to the operating force in the robot of the main sides Dan Tuiceng, and ADAPTIVE ROBUST control is designed out of side controller in single leg layer
Device processed is used to compensate the influence of the non-intellectual of parameter and extraneous unknown disturbance in operable leg kinetic model, builds single leg layer
The closed loop control framework at remote operating subsystem principal and subordinate end, design meet the control of system position tracking accuracy and power transparency demand
Parameter is restrained, the adaptive law of parameter to be estimated is determined based on liapunov function；
The force feedback pattern of the list leg layer remote operating subsystem, is embodied in and is in from the operable leg end of end robot
When omnibearing movable under free state, the position tracking error of operable leg end is converted in the controller of single leg layer main side
At tactile directed force and operator is fed back to, when being in the contact operation under restrained condition from end robot operable leg end
When, the contact force that the position tracking error of operable leg end and environment end act on end is merged, will be merged
Position tracking and the status information of force tracking are simulated in the controller of single leg layer main side, then in the form of tactile directed force
Feed back to operator.
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