CN109213306A - A kind of robot remote control platform and its design method - Google Patents
A kind of robot remote control platform and its design method Download PDFInfo
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- CN109213306A CN109213306A CN201710519640.7A CN201710519640A CN109213306A CN 109213306 A CN109213306 A CN 109213306A CN 201710519640 A CN201710519640 A CN 201710519640A CN 109213306 A CN109213306 A CN 109213306A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/06—Power analysis or power optimisation
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- General Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The embodiment of the present invention discloses a kind of design method of robot remote control platform, comprising: establishes Dynamic Models of Robot Manipulators, realizes the overall force analysis to robotic mechanical system；Operator and robot are constructed in the mapping of real world and virtual world using sensing system and robot feedback system；Using the operation control in touch sensor simulation real world for robot.The present embodiment is mapped using real world and virtual world, off-line operation and long-range programming to robot may be implemented by the robot remote control platform, while the operating status of robot can be monitored by the cloud sension unit built in virtual reality system.
Description
Technical field
The present invention relates to intelligence manufacture and automation control area more particularly to a kind of robot remote control platform and its
Corresponding design method.
Background technique
With the fast development of sensing technology, driving mechanism and navigation field Deng Ge section technology, industrial robot is answered
For more fields, traditional application mode of industrial robot is breached.Traditional industrial robot application mode is usually
The man-machine Coexistence mode being spatially separating, the application mode of industrial robot is turning to closer human-computer interaction cooperation at present.
Currently, the control of industrial robot depends on the online manual teaching control of operator.Operator by pair
The compound movement of robot is completed in the independent teaching in each joint of robot and the teaching of cartesian space track.In this teaching ring
In border, the teaching of industrial robot must carry out in safety zone, so that robot can not carry out careful, flexible operation.
The operating process of online manual teaching this at present is all more complicated, and complicated operating process makes industrial machine human operator's
Learning cost is excessively high.Under current industrial environment, high-end good service or product, industrial enterprise are provided with least cost
Market can just be based oneself upon.
Therefore, existing market is badly in need of a kind of industrial robot remote control table, utilizes robot dynamics' technology and void
Quasi- reality technology operates the off-line teaching of operator and projects under the premise of operator and robot are not physically contacted
In the operation of robot body, to improve the flexibility and safety of robot manipulation.Due to using virtual reality technology, operation
Personnel can first pass through virtual reality control platform and give training, and pseudo operation and real operation can carry out seamless connection, just
The training that personnel are rapidly carried out in enterprise, to efficiently control cost.
Summary of the invention
Existing industrial robot there are aiming at the problem that, the present invention propose a kind of industrial robot remote control table and its
Design method.The mapping of robot control system Yu operator's sensory perceptual system is established by virtual reality system, and uses power
It learns model and calculates control moment, the interference that operator is summarized by reality environment carries out robot long-range
Operation and/or programming.The scheme of this method is as follows:
A kind of design method of robot remote control platform comprising establish Dynamic Models of Robot Manipulators, realize to machine
The overall force analysis of device people's mechanical system；Operator is constructed using sensing system and robot feedback system and robot exists
The mapping of real world and virtual world；Using the operation control in touch sensor simulation real world for robot.
Preferably, the kinetic model is calculated using newton euler dynamical equations, according to transmission mechanisms at different levels
Stress, recursive operation obtains control moment required for next stage.
Preferably, the specific formula of the kinetic model is as follows:
Wherein, paWith ppFor the coordinate components of rigid element and flexible portion in generalized space coordinate system, Maa、Map、MppFor equity
Each submatrix of rigid system mass matrix, Fa、FpThe respectively resultant force of rigid element and flexible portion, τaFor rigid joint
The rigid component of control moment, KpFor the mass matrix of rigid element.
Preferably, the kinetic model combination proportion differential feedback control solves joint space vector and speed.
Preferably, robot manipulation's sky is established in the Fresnel Lenses imaging that is mapping through of the real world and virtual world
Between physical model, and the physical model is projected in the vision collecting system of operator.
Preferably, the robot remote control platform further includes remote fault diagnosis and the exclusion system of remote control table
System.
Preferably, the remote control table includes cloud module, for the field working conditions reduction of real world to be projected to
In long-range virtual world.
Preferably, the operation control includes virtual key or/and virtual drag operation mode.
The present invention also provides a kind of robot remote control platforms comprising Dynamic Models of Robot Manipulators is to realize to machine
The overall force analysis of people's mechanical system；Sensing system and robot feedback system are to construct operator and robot in reality
The mapping in the world and virtual world；Touch sensor controls the operation of robot with simulating in real world.
Preferably, the remote control table further includes vision collecting system, the scene for visual perception real world
Operating condition.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The embodiment of the present invention can effectively realize the drag operation for robot using robot dynamics' module, mention
The complexity of flexibility, reduction operation that high robot uses, and then reduce the learning cost of robot manipulation；The present embodiment is adopted
With virtual reality technology and there are touch sensor, not familiar operator can first pass through virtual reality control platform and train
Instruction, pseudo operation and real operation can carry out seamless connection, convenient for being rapidly performed by the training of personnel；The present embodiment is due to adopting
With remote control table, there is no actual physical interference, operator's absolutely not personal safety prestige for control process and robot
The side of body；The present embodiment uses remote fault diagnosis and removal system, so as to be realized with least human cost for problem
Precise positioning and exclusion.
Detailed description of the invention
Fig. 1 is that a kind of flow diagram of kinetic model combination PD feedback control is provided in the embodiment of the present invention；
Fig. 2 is that a kind of virtual reality module frame chart schematic diagram is provided in the embodiment of the present invention；
Fig. 3 be the embodiment of the present invention in virtual reality scenario schematic diagram corresponding to Fig. 2.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein
Or the sequence other than the content of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
The embodiment of the present invention provides a kind of design method of robot remote control platform.This method mainly includes following step
Rapid: 1) using newton -- euler dynamical equations calculates, according to the stress of transmission mechanisms at different levels, recursive operation obtains next
Control moment required for grade realizes the overall force analysis to robotic mechanical system, provides power scientific principle for long-range control
By basis.In this step, Dynamic Models of Robot Manipulators is mainly established, the specific formula of kinetic model is as shown in formula 1:
Wherein paWith ppFor the coordinate components of rigid element and flexible portion in generalized space coordinate system, Maa、Map、MppIt is right
Etc. rigid systems mass matrix each submatrix, Fa、FpThe respectively resultant force of rigid element and flexible portion, τaFor rigid pass
Save the rigid component of control moment, KpFor the mass matrix of rigid element.The submatrix M of reciprocity rigid system mass matrixpp's
Specific calculation expression is as shown in formula 2:
Wherein, ρ is Mass Distribution parameter, is based on serial manipulator common characteristic, MppIt is related to third and the 5th section of connecting rod,
Substituted into kinetic model formula 1 and can be calculated flexible portion joint velocityExpression is as shown in formula 3:
In a preferred embodiment, kinetic model solves joint in combination with proportion differential feedback (PD feedback) control system
Space vector and speed.As shown in Figure 1, the input of control system is the physical location p of robotadRank differential (i.e. joint angle
Speed), pass through Feedback Control Laws KP、KDEffect, the joint space vector and velocity feedback that can solve dynamics module are to defeated
Enter end to correct system；Input k0After dynamics module calculates control moment, it can be calculated according to kinetics equation just
Property partial joint space vector and speed, specific calculation expression is as shown in formula 5 and formula 6:
Wherein, it defines
2) operator and robot are constructed in real world and virtual generation using sensing system and robot feedback system
The mapping on boundary.In this embodiment, robot behaviour is established in the Fresnel Lenses imaging that is mapping through of real world and virtual world
Make the physical model in space, and the physical model is projected in the vision collecting system of operator using touch sensor mould
The quasi- real world of operation in to(for) robot controls.
As shown in Fig. 2, providing a kind of virtual reality module frame chart schematic diagram in the embodiment of the present invention.In this embodiment,
Robot remote control platform mainly includes sensing system, by sensor system senses and feedback, thus with user's (operation
Person) between form information exchange.Control instruction in control instruction or virtual environment in the real world is also by sensor system
System generates information exchange with user and control is converted.Interactive process of the user in virtual environment mainly passes through modeling module component
3D model carry out.
As shown in figure 3, with virtual reality scenario schematic diagram corresponding to Fig. 2.In this embodiment, remote control table system
Using Fresnel Lenses image-forming principle and corresponding equipment, the physical model in robot manipulation space is established, and by the physics
Model projects in the vision of operator.It is passed during this establishes virtual reality model, while using the tactile of auxiliary
Sensor, simulation reality in operator for robot drag operation control flow, to realize operator's operation on the spot in person
Impression improves the flexibility that robot uses, and reduces the complexity of operation, and then reduces the operation of operator's learning robot
Learning cost.The virtual reality model realizes the seamless connection of real operation and pseudo operation, simultaneously because operator is separate
Robot body, the personal safety of operator have also obtained maximum guarantee.
3) using the operation control in touch sensor simulation real world for robot.In this embodiment, remote
On process control platform, operator can be projected field working conditions in the sensory perceptual system of operator by virtual reality system, be led to
It crosses touch virtual key or/and virtually the modes such as towing realizes the long-range control for robot.
In one embodiment, remote control table includes cloud module, for restoring the field working conditions of real world
It is projected in long-range virtual world.In this embodiment, operation control includes virtual key or/and virtual drag operation side
Formula.
In one embodiment, robot remote control platform further include remote control table remote fault diagnosis and
Removal system.By cloud module built-in in remote control table, field working conditions reduction is projected to long-range virtual reality system
In system, the operating condition image at scene is constructed for expert.Expert directly can refer to Field Force according to the field working conditions of reduction
It leads or is projected directly in robot control system by pseudo operation, directly exclusion field failure.In a preferred embodiment,
All data will be recorded in the log of tele-control system, convenient for the access of operator.When occurring identical ask again
When topic, operator can have found solution by consulting log.
In one embodiment, the present invention also provides a kind of robot remote control platforms.Robot remote control platform packet
Dynamic Models of Robot Manipulators is included to realize the overall force analysis to robotic mechanical system；Sensing system and robot feedback
System is to construct operator and robot in the mapping of real world and virtual world；Touch sensor is to simulate in real world
Operation control for robot.Since the specific design method and application method of the platform have been carried out in foregoing embodiments
It is described in detail, therefore, detail herein repeats no more.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of design method of robot remote control platform characterized by comprising
Dynamic Models of Robot Manipulators is established, realizes the overall force analysis to robotic mechanical system；
Operator and robot reflecting in real world and virtual world are constructed using sensing system and robot feedback system
It penetrates；
Using the operation control in touch sensor simulation real world for robot.
2. a kind of design method of robot remote control platform according to claim 1, which is characterized in that the power
It learns model to calculate using newton euler dynamical equations, according to the stress of transmission mechanisms at different levels, recursive operation obtains next
Control moment required for grade.
3. a kind of design method of robot remote control platform according to claim 2, which is characterized in that the power
The specific formula for learning model is as follows:
Wherein, paWith ppFor the coordinate components of rigid element and flexible portion in generalized space coordinate system, Maa、Map、MppFor equity
Each submatrix of rigid system mass matrix, Fa、FpThe respectively resultant force of rigid element and flexible portion, τaFor rigid joint
The rigid component of control moment, KpFor the mass matrix of rigid element.
4. a kind of design method of robot remote control platform according to claim 3, which is characterized in that the power
It learns models coupling proportion differential feedback control and solves joint space vector and speed.
5. a kind of design method of robot remote control platform according to claim 1, which is characterized in that the reality
The physical model for being mapping through Fresnel Lenses imaging and establishing robot manipulation space of the world and virtual world, and by the object
Reason model projects in the vision collecting system of operator.
6. a kind of design method of robot remote control platform according to claim 1, which is characterized in that the machine
People's remote control table further includes remote fault diagnosis and the removal system of remote control table.
7. a kind of design method of robot remote control platform according to claim 6, which is characterized in that described long-range
Control platform includes cloud module, for the field working conditions reduction of real world to be projected in long-range virtual world.
8. a kind of design method of robot remote control platform according to claim 1, which is characterized in that the operation
Control includes virtual key or/and virtual drag operation mode.
9. robot remote control platform corresponding to a kind of and claim 1 characterized by comprising
Dynamic Models of Robot Manipulators is to realize the overall force analysis to robotic mechanical system；
Sensing system and robot feedback system are to construct operator and robot in the mapping of real world and virtual world；
Touch sensor controls the operation of robot with simulating in real world.
10. a kind of robot remote control platform according to claim 9, which is characterized in that the remote control table
It further include vision collecting system, the field working conditions for visual perception real world.
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Cited By (3)
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| CN111390908A (en) * | 2020-03-26 | 2020-07-10 | 哈尔滨工业大学 | Webpage-based mechanical arm virtual dragging method |
| CN112947238A (en) * | 2021-03-15 | 2021-06-11 | 哈尔滨工业大学 | Industrial robot real-time control system based on VR technique |
| CN114080583A (en) * | 2019-07-23 | 2022-02-22 | 丰田研究所股份有限公司 | Visual teaching and repetitive motion manipulation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114080583A (en) * | 2019-07-23 | 2022-02-22 | 丰田研究所股份有限公司 | Visual teaching and repetitive motion manipulation system |
| CN114080583B (en) * | 2019-07-23 | 2023-12-08 | 丰田研究所股份有限公司 | Visual teaching and repetitive movement manipulation system |
| CN111390908A (en) * | 2020-03-26 | 2020-07-10 | 哈尔滨工业大学 | Webpage-based mechanical arm virtual dragging method |
| CN111390908B (en) * | 2020-03-26 | 2022-05-17 | 哈尔滨工业大学 | Webpage-based mechanical arm virtual dragging method |
| CN112947238A (en) * | 2021-03-15 | 2021-06-11 | 哈尔滨工业大学 | Industrial robot real-time control system based on VR technique |
| CN112947238B (en) * | 2021-03-15 | 2021-11-09 | 哈尔滨工业大学 | Industrial robot real-time control system based on VR technique |
| US11986968B2 (en) | 2021-03-15 | 2024-05-21 | Harbin Institute Of Technology | Real-time control system for industrial robot based on virtual reality (VR) |
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