CN109048897A - A kind of method of principal and subordinate's teleoperation of robot - Google Patents
A kind of method of principal and subordinate's teleoperation of robot Download PDFInfo
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- CN109048897A CN109048897A CN201810921630.0A CN201810921630A CN109048897A CN 109048897 A CN109048897 A CN 109048897A CN 201810921630 A CN201810921630 A CN 201810921630A CN 109048897 A CN109048897 A CN 109048897A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Abstract
A kind of principal and subordinate robot teleoperation method comprises the following steps that the main side A1. robot issues instruction；A2. the freedom degree for determining main side robot, establishes virtual split-matrix unit；A3. it determines from the freedom degree of end robot, establishes virtual split-matrix unit；A4. the virtual split-matrix unit of identical quantity will produce the virtual joint of identical quantity according to following formula,I=1,2 ..., l, X=M, S,For virtual split-matrix unit, SXT is state vector, holds robot based on M, S be from end robot,For virtual joint；A5. robot corresponding virtual joint in principal and subordinate end forms virtual joint pair；A6. the similarity matrix of all virtual joints pair is added, forms the mapping of virtual joint, instruction morphing by above-mentioned sending is from the instruction of end robot, to realize to the control from end robot.Compared with prior art, no matter whether principal and subordinate end robot modeling is identical, can guarantee that principal and subordinate end robot in the synchronism of task space, while also guaranteeing similitude in configuration.
Description
Technical field
The present invention relates to a kind of principal and subordinate robot teleoperation methods, belong to robotic technology field.
Background technique
Robot is widely used in the unmanned scene reached of many mankind and carries out operation, for example, nuclear pollution scene, ocean/
These tasks such as underwater operation scene, space robotics' operation field and remote operation, since the mankind can not be in the action,
And the degree of AUTONOMOUS TASK is also much not achieved in the level of intelligence of robot, it is therefore necessary to robot is remotely controlled,
And remote operating is exactly a kind of very universal robot remote control model.Remote operating refers to that operator is set by human-computer interaction
Preparation goes out action command, and instruction is sent to the robot of distal end by network or dedicated communication link, after robot receives instruction,
It is operated according to instruction, is finally completed task.
In remote operating, the action command of operator how is collected, and is converted into the control instruction of REMOTE MACHINE people, this refers to
It enables the operation that can accurately reappear operator be intended to, is a vital link and its core key skill in remote operating
Art.In general, operator one end is known as main side, REMOTE MACHINE person is from end.Here the action command of main side is collected,
And it is converted into the process from end robot motion control instruction, referred to as principal and subordinate's kinematics maps.
The human-computer interaction device of main side can there are many form, such as rocking bar, series connection multi link formula robot, it is parallel and
Robot, upper limb wearable device and contactless vision or optics motion capture equipment.Equally, appoint depending on different
Business needs, from the robot at end can also there are many configuration or different freedom degrees, such as Three Degree Of Freedom, six degree of freedom, seven from
It is even more by spending.Fairly simple situation is the interactive device of main side with from holding robot modeling completely the same, that is, has phase
With configuration and kinematic parameter (it is considered that from end be main side duplication), then movement mapping when, principal and subordinate end directlys adopt phase
Same joint angle can realize the consistent remote operating control of principal and subordinate.It but is more the machine of main and slave terminal in practical application
The case where people's principal and subordinate's isomery, we can not realize the consistent remote operating control of principal and subordinate with traditional kinematics mapping.
Summary of the invention
The purpose of the present invention is to solve no matter whether principal and subordinate end robot modeling is identical, it can guarantee principal and subordinate's terminal
Device people while also guaranteeing Similarity Problem in configuration in the synchronism of task space, proposes a kind of distant behaviour of principal and subordinate robot
The method of work.
In order to solve the above technical problems, the method for proposing principal and subordinate's teleoperation of robot, the specific steps are as follows: the main side A1. machine
Device human hair goes out to instruct；A2. the freedom degree for determining main side robot, establishes virtual split-matrix unit；A3. it determines from end robot
Freedom degree, establish virtual split-matrix unit；A4. the virtual split-matrix unit of identical quantity, will can according to following formula
The virtual joint of identical quantity is generated,Vi XFor virtual split-matrix list
Member, SXT is state vector, holds robot based on M, S be from end robot,For virtual joint；A5. principal and subordinate end robot phase
Corresponding virtual joint forms virtual joint pair；A6. the similarity matrix of all virtual joints pair is added, is formed virtual
The mapping in joint, instruction morphing by above-mentioned sending are from the instruction of end robot, to realize to the control from end robot.
Preferably, in above-mentioned technical proposal, the virtual split-matrix unit Vi XExpression formula are as follows:
It is the number for the freedom degree that i-th of virtual joint of manipulation end includes,It is to include from i-th of the virtual joint in end
Freedom degree number, m be freedom degree quantity.
Preferably, in above-mentioned technical proposal, the virtual split-matrix unit Vi X, one and only one 1 element of every row, and
Each column is up to 1 element, remaining is zero.
Preferably, in above-mentioned technical proposal, virtual split-matrix, institute are established by multiple virtual split-matrix units
Virtual split-matrix is stated to be defined as follows:
Preferably, in above-mentioned technical proposal, by the similitude of the virtual joint pair to principal and subordinate end robot motion's phase
It is measured like degree, the kinematic similitude matrix is defined as follows:
Wherein,It is virtual jointDerivative at any time, and 0 < α < 1 is weight factor,What is indicated is the kinematic similarity of the virtual joint of main and slave terminal robot in the quiescent state,It indicates to be the dynamic similarity between principal and subordinate end.
Preferably, in above-mentioned technical proposal, the weight factor α determines the virtual joint of principal and subordinate end robot in static state
Under kinematic similitude degree and principal and subordinate end robot virtual joint kinematic similitude degree in a dynamic state relative weighting.
Preferably, in above-mentioned technical proposal, the virtual joint mapping is converted into an optimized expression formula are as follows:
Preferably, described in above-mentioned technical proposalThe virtual joint mapping
It is converted into traditional joint space matrix measures method.
Preferably, in above-mentioned technical proposal, the l=1, V1 M=Im,V1 S=In, the virtual joint, which maps, to be converted into
Traditional measure based on cartesian space.
Preferably, in above-mentioned technical proposal, the main side robot and from end robot configuration it is inconsistent
Compared with prior art, the invention has the following beneficial effects:
Compared with prior art, above-mentioned principal and subordinate robot teleoperation method, main side robot issue instruction, are closed using virtual
Section mapping to control from end robot, guarantees the instruction of the instruction morphing Cheng Congduan robot of main side robot
Principal and subordinate end robot while also guaranteeing similitude in configuration in the synchronism of task space.
Detailed description of the invention
Fig. 1 is principal and subordinate of embodiment of the present invention robot teleoperation method flow chart.
Fig. 2 is UR5 coordinate system diagram of the embodiment of the present invention.
Fig. 3 is UR5 configuration picture of the embodiment of the present invention
Fig. 4 is Irb2400 coordinate system diagram of the embodiment of the present invention
Fig. 5 is Irb2400 configuration picture of the embodiment of the present invention
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in detail, it is to be understood that guarantor of the invention
Shield range is not limited by the specific implementation.
Unless otherwise explicitly stated, otherwise in entire disclosure and claims, term " includes " or its change
Changing such as "comprising" or " including " etc. will be understood to comprise stated element or component, and not exclude other members
Part or other component parts.
Shown in Fig. 1, a kind of the step of principal and subordinate robot teleoperation method is as follows: the main side A1. robot issues instruction；A2.
The freedom degree for determining main side robot establishes virtual split-matrix unit；A3. it determines the freedom degree from end robot, establishes empty
Quasi- split-matrix unit；A4. the virtual split-matrix unit of identical quantity will produce the void of identical quantity according to following formula
Pseudarthrosis,Vi XFor virtual split-matrix unit, SXT is state vector,
Robot is held based on M, S is from end robot；A5. robot corresponding virtual joint in principal and subordinate end forms virtual joint pair；A6.
The similarity matrix of all virtual joints pair is added, the mapping of virtual joint is formed, by the instruction morphing of above-mentioned sending
For from end robot instruction, thus realize to from end robot control.
Shown in Fig. 2 and Fig. 3, robot is held based on UR5, is the robot of six-freedom degree, shown in Fig. 4 and Fig. 5,
Irb2400 is the robot from end robot and six-freedom degree, will specifically introduce realization situation below:
In the movement mapping experiment of UR5 and Irb2400, main side (UR5) and from end (Irb2400) freedom degree having the same
(m=n=6).
The expression formula of virtual split-matrix unit:
Wherein i=1,2 ..., l, i are freedom degree, and robot is held based on X=M, S, and M, and S is from end robot；
It is the number for the freedom degree that i-th of virtual joint of manipulation end includes,It is the freedom degree for including from i-th of the virtual joint in end
Number, m are the quantity of freedom degree.
We, which define UR5, has 5 virtual split-matrix units and Irb2400 to have 5 virtual split-matrix units, expression formula
Such as following formula:
V1 M=V1 S=100000
It is analyzed according to the virtual split-matrix unit of UR5 and Irb2400, one and only one 1 element of every row, and each column is most
There is 1 element, remaining is zero, I more6Indicate that order is 6 × 6 unit matrix.
UR5 and Irb2400 has the virtual split-matrix unit of identical quantity, and the void of identical quantity is generated according to following formula
Pseudarthrosis:
For virtual joint, SXT is state vector
The corresponding virtual joint of above-mentioned principal and subordinate end robot forms virtual joint pair, for i-th pair virtual joint to (i
=1,2 ... l), can be defined as follows kinematic similitude degree metric matrix:
Wherein,It is virtual jointDerivative at any time,Reflection is structure
Similitude in type,What is reflected is the similitude on movement tendency, and 0 < α < 1 is weight factor,What is indicated is the kinematic similarity of the virtual joint of main and slave terminal robot in the quiescent state,It indicates to be the dynamic similarity between principal and subordinate end.
In the movement mapping experiment of UR5 and Irb2400, we are indifferent to the similitude on movement tendency, only focus on configuration
On similitude, therefore each virtual joint is as follows to measuring similarity matrix:
Wherein,Refer to spin matrix of the B coordinate system relative to A coordinate system, andIt refers to from A coordinate origin
To the evolution of B coordinate origin.From formula (1), it can be seen that, first three virtual joint is substantially exactly to correspond
The preceding three degree of freedom of robot.But the 4th and the 5th virtual joint are with regard to different: the 4th virtual joint contains
The rear three degree of freedom of robot；5th virtual joint then contains whole six-freedom degrees of robot.The two are virtual
Joint is the concept got up by multiple degrees of freedom combination.So how to measure the similarity of the 4th virtual joint? here
Mode is exactly to consider robot from the end of three degree of freedom to the situation of change of the end of six-freedom degree, this changes
The similarity degree of situation illustrates the similarity of the 4th virtual joint, so what is taken here is that former robot is free from third
Spend the posture spin matrix to six-freedom degreeSimilarly, what the 5th virtual joint was reacted is from robot base
Seat arrives the similitude of the evolution of end, and reaction is position net synchronization capability of the robot end in task space, so taking
Be evolution battle array from pedestal to endRobot base indicates zero freedom degree, robot end's table
Show six-freedom degree.Frame3 indicates that the joint coordinate system of the 3rd freedom degree, Frame6 indicate the joint of the 3rd freedom degree
Coordinate system, Frame0 indicate the joint coordinate system of pedestal.
UR5 is added measuring similarity matrix with all virtual joints of Irb2400, obtain UR5 and Irb2400 it
Between total kinematic similitude metric matrix, form virtual joint mapping, expression formula are as follows:
Its external constraint is handled according to each joint limit of Irb2400:
Irb2400 has 6 joint angles altogether, is expressed as θ1 SExtremelyWhat formula (6) indicated here is each of robot Irb2400
A joint angle constraint, the slewing area for first joint angle that first formula indicates are that-π arrives π, and second formula indicates second
The slewing area of a joint angle isIt arrivesThird formula indicates that the slewing area of second joint angle isIt arrivesThe slewing area for first joint angle that 4th formula indicates is that-π arrives π, and the 5th formula indicates the
The slewing area of two joint angles isIt arrives6th formula indicate first joint angle slewing area be-
π to π.
In test, I rb2400 is identical with the preceding three degree of freedom of UR5, i.e. i=1, and 2,3, have
Reach minimum value according to the measuring similarity matrix of formula (1) to (5) first three virtual joint pair, first three is virtual at this time
The measuring similarity matrix measures method in joint pair is converted into traditional joint space matrix measures method.Traditional joint is empty
Between matrix measures method are as follows: when remote operating, by the angle (or angular speed) of each joint angle of main side robot directly as instruction
It is sent to joint corresponding from end robot, then principal and subordinate end robot will reappear the dynamic of main side robot exactly in unison
Make, realizes the mapping at principal and subordinate end well in this way.
When six-freedom degree reaches consistent relative to the direction of three degree of freedom, according to formula (4) the 6th
Freedom degree is minimum value, therefore the measuring similarity square of the 4th virtual joint pair relative to the spin matrix of three degree of freedom
Battle array reaches minimum value.
Irb2400 and the terminal position of UR5 synchronous, i.e. l=1, V in cartesian space realization1 M=Im,V1 S=In, and examine
Consider module and select terminal position, can be reached according to the measuring similarity matrix of the 5th virtual joint pair of formula (4)
Minimum value, the measuring similarity matrix measures method of the 5th virtual joint pair is converted into traditional based on cartesian space at this time
Measure.Traditional measure based on cartesian space are as follows: obtain main side robot end first in flute
The pose in karr space is converted into and is referred to from end robot end in the pose of cartesian space after the mapping of working space
It enables, later by Inverse Kinematics Solution, resolves and obtain controlling from the joint angle instruction of end robot from end robot.
Four groups of different weight factors are chosen in experiment, and movement mapping effect is compared:
Experimental result description: k1, k2, k3, k4 are selected as 1, k5 and are selected as 0 inside first group of weight factor set#1, indicate us
In this group experiment, it is of interest that the synchronism of the synchronism of first four virtual joint, the 5th virtual joint is not considered.From
Formula (1) and formula (5) are as can be seen that first three virtual joint substantially corresponds first three joint freedom of robot
Degree, the 4th virtual joint are the set of three joint freedom degrees after robot, thus virtual joint mapping be Irb2400 with
UR5 is consistent in first three joint in joint space, at the same also guarantee Irb2400 end and UR5 end relative to the
The direction in three joints is also consistent.In second group of weight factor, k1, k2, k3, k4 are selected as 0, k5 entirely and are selected as 1, indicate us
It is only concerned the synchronism of the 5th virtual joint, and what the 5th virtual joint indicated is robot end relative to its pedestal mark
The position of task space (cartesian space) is tied up to, therefore there is no special herein for the synchronization configuration of Irb2400 and UR5
Constraint, that is to say, that under this group of parameter, virtual joint mapping is to guarantee the synchronism of Irb2400 and UR5 terminal position.Third
K1, k2, k3, k5 are selected as 1, k4 and are selected as 0 inside group weight factor set#1, indicate us in this group experiment, it is of interest that first three
The synchronism of a virtual joint and the 5th virtual joint, the synchronism of the 4th virtual joint are not considered.From formula (2) and formula
Sub (4) as can be seen that the virtual joint followability of the mapping in addition to guaranteeing endpoint, it is ensured that first three joint configuration
Similitude.And so on analysis, the 4th group of parameter, the mapping of virtual joint be first three joint configuration, end direction and flute
Karr space has all obtained synchronization.
To sum up, the present invention provides a kind of principal and subordinate robot teleoperation method, compared with prior art, the above method, main side
Robot issues instruction, is mapped using virtual joint, the instruction of the instruction morphing Cheng Congduan robot of main side robot, thus
It controls from end robot, guarantees that principal and subordinate end robot in the synchronism of task space, while also guaranteeing in configuration
Similitude.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Several alternative or obvious variations are made under the premise of not departing from present inventive concept, and performance or use is identical, all should be considered as
It belongs to the scope of protection of the present invention.
Claims (10)
1. a kind of principal and subordinate robot teleoperation method, comprises the following steps that
A1. main side robot issues instruction；
A2. the freedom degree for determining main side robot, establishes virtual split-matrix unit；
A3. it determines from the freedom degree of end robot, establishes virtual split-matrix unit；
A4. the virtual split-matrix unit of identical quantity will produce the virtual joint of identical quantity according to following formula:
Vi XFor virtual split-matrix unit, SXT is state vector, holds robot based on M, S be from end robot,For void
Pseudarthrosis；
A5. robot corresponding virtual joint in principal and subordinate end forms virtual joint pair；
A6. the similarity matrix of all virtual joints pair is added, forms the mapping of virtual joint, by the finger of above-mentioned sending
The instruction being converted into from end robot is enabled, to realize to the control from end robot.
2. principal and subordinate robot teleoperation method according to claim 1, the virtual split-matrix unit Vi XExpression formula are as follows:
It is the number for the freedom degree that i-th of virtual joint of manipulation end includes,It is oneself for including from i-th of the virtual joint in end
By the number spent, m is the quantity of freedom degree.
3. principal and subordinate robot teleoperation method according to claim 2, the virtual split-matrix unit Vi X, every row has and only
There is 1 element, and each column is up to 1 element, remaining is zero.
4. principal and subordinate robot teleoperation method according to claim 3, which is characterized in that pass through multiple virtual decomposition squares
Array element establishes virtual split-matrix, and the virtual split-matrix is defined as follows:
5. principal and subordinate robot teleoperation method according to claim 1, which is characterized in that pass through the phase of the virtual joint pair
Robot kinematic similitude degree in principal and subordinate end is measured like property, the kinematic similitude matrix is defined as follows:
Wherein,It is virtual jointDerivative at any time, and 0 < α < 1 is weight factor,What is indicated is the kinematic similarity of the virtual joint of main and slave terminal robot in the quiescent state,It indicates to be the dynamic similarity between principal and subordinate end.
6. principal and subordinate robot teleoperation method according to claim 5, which is characterized in that the weight factor α determines master
From the fortune of the virtual joint of the virtual joint kinematic similitude degree in the quiescent state of end robot and principal and subordinate end robot in a dynamic state
The relative weighting of dynamic similarity.
7. principal and subordinate robot teleoperation method according to claim 1, which is characterized in that the virtual joint mapping is converted to
One optimized expression formula are as follows:
8. principal and subordinate robot teleoperation method according to claim 7, which is characterized in that the i=1,2 ..., l,The virtual joint mapping is converted into traditional joint space matrix measures method.
9. principal and subordinate robot teleoperation method according to claim 7, which is characterized in that the l=1, V1 M=Im,V1 S=
In, the virtual joint, which maps, is converted into traditional measure based on cartesian space.
10. principal and subordinate robot teleoperation method according to claim 1, which is characterized in that the main side robot and from end
The configuration of robot is inconsistent.
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| CN109901396A (en) * | 2019-03-22 | 2019-06-18 | 清华大学深圳研究生院 | A kind of improvement wave variables method in bilateral teleoperation system |
| CN112428247A (en) * | 2020-09-28 | 2021-03-02 | 燕山大学 | Enhanced transparent performance control method for multi-master-multi-slave teleoperation system |
| CN112720502A (en) * | 2021-01-11 | 2021-04-30 | 深圳市正运动技术有限公司 | Control method of single-multi-axis manipulator |
| CN113733037A (en) * | 2021-09-13 | 2021-12-03 | 哈工大机器人（合肥）国际创新研究院 | Seven-degree-of-freedom master-slave isomorphic teleoperation master hand |
| CN114599485A (en) * | 2019-11-15 | 2022-06-07 | 川崎重工业株式会社 | Master-slave system and control method |
| CN114872050A (en) * | 2022-06-01 | 2022-08-09 | 清华大学深圳国际研究生院 | Control method and control system for double-arm crawler-type mobile operation robot |
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| CN113733037B (en) * | 2021-09-13 | 2022-09-09 | 哈工大机器人（合肥）国际创新研究院 | Seven-degree-of-freedom master-slave isomorphic teleoperation master hand |
| CN114872050A (en) * | 2022-06-01 | 2022-08-09 | 清华大学深圳国际研究生院 | Control method and control system for double-arm crawler-type mobile operation robot |
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| CN109048897B (en) | 2021-01-15 |
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