CN110039547A - A kind of human-computer interaction terminal and method of flexible mechanical arm remote operating - Google Patents
A kind of human-computer interaction terminal and method of flexible mechanical arm remote operating Download PDFInfo
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- CN110039547A CN110039547A CN201910447859.XA CN201910447859A CN110039547A CN 110039547 A CN110039547 A CN 110039547A CN 201910447859 A CN201910447859 A CN 201910447859A CN 110039547 A CN110039547 A CN 110039547A
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- mechanical arm
- flexible mechanical
- remote operating
- flexible
- human
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
Abstract
The present invention provides the human-computer interaction terminal and method of a kind of flexible mechanical arm remote operating.The 3 D stereo Visual Scene of flexible mechanical arm is generated by VR head-mounted display；S2, flexible mechanical arm terminal angle is controlled by operation handle, so that flexible mechanical arm arm type is controlled, to achieve the effect that operate flexible mechanical arm in person.The present invention is a kind of contactless interaction technique, the interaction technique based on machine vision.Due to be it is contactless, whole operation mode is non-intrusion type, can be greatly reduced to the interference of operator.In this kind of interaction technique, operator can go to control with more intuitive and natural command mode, effectively prevents interference brought by contact equipment.
Description
Technical field
The present invention relates to the human-computer interaction terminals and method of a kind of flexible mechanical arm remote operating.
Background technique
In remote control system, operator is remotely issuing control instruction to robot, and robot is according to operator's
Task is completed in instruction, while some signals are fed back to operator, and operator is helped to understand the work shape from end robot
Condition.Teleoperation robot is the robot locally autonomous control system that a kind of someone participates in, and is related to the friendship of people and robot
Mutual and machine human and environment interaction, it has given full play to people and the respective advantage of robot and has expanded the perception and behavior of people
Ability.
Common application mainly has, in solar-system operation, it is only necessary to ground handling operator and/or the astronaut in cabin
Remote operating is carried out to robot for space, so that it may complete the tasks, the even moon such as maintenance or the spacecraft fuel adding of space station
Ball or areographic exploration.It is dangerous to astronaut's bring to avoid out cabin, significantly reduces the cost of space mission, and
The detectivity of the mankind is expanded.In nuclear industry and chemical industry, when handling some nuke rubbish and toxic chemical spent material, operation
Worker is prohibited directly to contact with environment.When executing undersea search task, to meet the mankind and indiscriminately ad. as one wishes reach workspace
The requirement in domain, the technically often relatively difficult to achieve or very high cost price of needs.In tele-medicine, doctor needs in length
The distal end of distance is remotely controlled operation；And in Minimally Invasive Surgery, small remote control surgical instrument can be used, is obtained smaller
Surgical wound and more preferably post-operative recovery effect.
Remote control system refer mainly to operator and control by main side human-computer interaction device to carry out from end robot to explore and
Job task.Typical remote control system by operator, human-computer interaction device, master controller, communication channel, from controller, from
A few part compositions such as terminal device human and environment.Its operating mode is；Operator is referred to by the control that human-computer interaction device obtains people
Information is enabled, is sent to by transmission mediums such as radio wave, computer networks from end robot, from end robot according to receiving
Instruction work in certain circumstances, while being returned by the working condition of oneself and with the information such as the interaction force of environment
To operator, correct decision is made convenient for operator.High performance remote control system can make operator truly feel machine
Friendship effect between device people and operating environment, just looks like to be operator oneself directly as being operated with hand, faces with body
The feeling in its border.
In common human-computer interaction technology, the mechanical equipment of the contacts such as rocking bar, the controller for imitating robot shape is
It is often used as the tool of interaction between operator and robot.The disadvantage of this quasi-controller is that operator is needed to carry out phase
When non-intuitive arm action controls robot, this just needs operator to have certain operating experience could be effective
Robot is accurately controlled.Another man-machine interaction mode be using to the position of manpower and pose carry out in real time with
The system of track.The equipment for belonging to this type has electromagnetic tracking device, and inertial sensor, data glove etc., these belong to contact
The sensor of formula, disadvantage is it is also obvious that be exactly that can hinder the normal hand motion of operator.
Summary of the invention
The purpose of the present invention is to solve the problems of the prior art, a kind of the man-machine of flexible mechanical arm remote operating is proposed
Interactive terminal and method.
In order to solve the above technical problems, the human-computer interaction terminal of flexible mechanical arm remote operating proposed by the present invention includes man-machine
Interface hardware, 3D software operation interface, data calculation module, message processing module；The human-computer interaction hardware includes that VR is worn
Display and operation handle；The 3D software operation interface is used to show the centre visual angle and data of VR head-mounted display；It is described
Data calculation module is for being recognized and being optimized to operational order；The message processing module is for realizing interactive terminal and soft
Property mechanical arm communication and data storage, be responsible for carrying out the control instruction of 3D Software Create into safety detection, and according to interface
It is required that being converted into regulation instruction format is sent to flexible mechanical arm；To which the operation of people can be intended to convert by the human-computer interaction terminal
For flexible mechanical arm control instruction, real-time to generate, send master-slave operation command sequence, control flexible mechanical arm is completed to specify distant
Operation task.
In some embodiments, further include following technical characteristic:
The flexible mechanical arm is used based on rope driving and super Redundancy Design, and flexible mechanical arm joint designs use two
A freedom degree design, adjacent segment are mutually perpendicular to, and connect and compose whole flexible mechanical arm by each module, this conformational flexibility
Mechanical arm has the three-dimensional space motion ability of super redundancy.
The data calculation module is also used under kinematic constraint condition, and the kinematics for completing flexible mechanical arm resolves, and is obtained
To at least one of flexible mechanical arm rope length, end pose, configuration angle three, restrict so that the human-computer interaction terminal exports
At least one of long message, configuration angle, end pose three are further completed to the control from end robot.
The present invention also proposes a kind of man-machine interaction method of flexible mechanical arm remote operating, it is characterised in that including walking as follows
It is rapid: S1, the 3 D stereo Visual Scene that flexible mechanical arm is generated by VR head-mounted display；S2, it is controlled by operation handle
Flexible mechanical arm terminal angle, so that flexible mechanical arm arm type is controlled, to achieve the effect that operate flexible mechanical arm in person.
In some embodiments, further include following technical characteristic:
Further include following steps: S3, operational order being recognized and optimized by data calculation module, and is being moved
Under constraint condition, the kinematics for completing flexible mechanical arm is resolved, and obtains flexible mechanical arm rope length, end pose, configuration angle three
At least one of person.
Further include following steps: message processing module realizes that the communication of interactive terminal and flexible mechanical arm and data are deposited
Storage is responsible for carrying out the control instruction of generation into safety detection, and according to interface requirement be converted into regulation instruction format be sent to it is soft
Property mechanical arm.
Flexible arm, which moves Three-dimensional Display, to be controlled by joint angles, turns the letter of rope length by joint angle in system
Number calculates rope length, and rope length data are sent to ground control system by UDP, and ground control system is by rope length data conversion
For motor speed, motor rotation is thus controlled, so that flexible mechanical arm be driven to move.
Flexible mechanical arm ambient enviroment is observed by VR head-mounted display.
Further include: receive the instruction of remote operating subsystem, judge current subsystem and terminal whether failure exception, by then into
In next step, not by then stopping remote operating task, task terminates row.
The invention further relates to a kind of storage mediums, which is characterized in that is stored thereon with computer program, the computer journey
Sequence can be performed to realize above-mentioned method.
Compared with prior art, it the beneficial effects of the present invention are as follows: the present invention is a kind of contactless interaction technique, is based on
The interaction technique of machine vision.Due to be it is contactless, whole operation mode is non-intrusion type, is done to operator
Disturbing can greatly reduce.In this kind of interaction technique, operator can go to control with more intuitive and natural command mode, has
Effect avoids interference brought by contact equipment.
Detailed description of the invention
Figure 1A is flexible mechanical arm schematic diagram of the embodiment of the present invention.
Figure 1B is flexible mechanical arm of embodiment of the present invention interactive terminal composition schematic diagram.
Fig. 2 is human-computer interaction terminal hardware effort schematic diagram of the embodiment of the present invention.
Fig. 3 is human-computer interaction terminal human-computer interaction interface composition schematic diagram of the embodiment of the present invention.
Fig. 4 is flexible mechanical arm of embodiment of the present invention interactive terminal operational flow diagram.
Specific embodiment
In order to which technical problem to be solved of the embodiment of the present invention, technical solution and beneficial effect is more clearly understood,
The present invention is further described in detail below with reference to the accompanying drawings and embodiments.It should be appreciated that specific implementation described herein
Example is not intended to limit the present invention only to explain the present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.In addition, connection can be for fixing
Effect is also possible to act on for circuit communication.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of the description embodiment of the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the embodiment of the present invention, the meaning of " plurality " is two or two
More than, unless otherwise specifically defined.
The following embodiments of the present invention devise dedicated remote operating people for rope driving flexible mechanical arm (as shown in Figure 1A)
The operation of people can be intended to be converted into flexible mechanical arm control by machine interactive terminal (as shown in Figure 1B) by human-computer interaction terminal
System instruction, can export rope length information, configuration angle, end pose, complete to the control from end robot.Major function has:
(1) the 3 D stereo Visual Scene for producing flexible mechanical arm can make operator reach operation in person flexible
The effect of mechanical arm, more accurately judges to make；
(2) it by human-computer interaction interface, realizes the control visual angle of main side operation and supervises aobvious visual angle coordinate synchronization from end state,
Increase operating flexibility；
(3) by the VR helmet and VR handle, the operation information of operator is obtained in real time；
(4) operation information of operator is converted to the control instruction of flexible mechanical arm；
(5) master-slave operation order, the end pose six degree of freedom control of achievable flexible mechanical arm are sent in real time；
Flexible mechanical arm interactive terminal major function is to convert control instruction for the operation intention of people, is generated in real time, hair
Master-slave operation command sequence is sent, control flexible mechanical arm completes specified remote operating task.
Using the flexible mechanical arm end in VR handle operation virtual scene, control instruction control is generated from end flexible mechanical
Arm.Flexible mechanical arm described herein is used based on rope driving and super Redundancy Design, and flexible arm joint designs use two
A freedom degree design, adjacent segment are mutually perpendicular to, and by the whole flexible arm that connects and composes of each module, thus this configuration is mechanical
Arm has the three-dimensional space motion ability of super redundancy, it can be achieved that small space obstacle passes through.As shown in Figure 1A, flexible mechanical arm by
4 sections of compositions, every section of two freedom degrees, totally 8 freedom degrees, every section of two freedom degrees are known as configuration angle, and each section by 3 rope lengths
Control the configuration angle of this section.
As shown in Figure 1B, flexible mechanical arm human-computer interaction terminal is grasped by human-computer interaction hardware, Unity3D (a kind of 3D software)
Make interface, data calculation module, message processing module composition.
Human-computer interaction hardware is mainly made of VR head-mounted display with operation handle.The signal of human-computer interaction hardware effort is as schemed
Shown in 2, human-computer interaction interface composition is as shown in Figure 3.The 3 D stereo that VR head-mounted display generates flexible mechanical arm visualizes field
Scape, operation handle can control flexible mechanical arm terminal angle, so that flexible mechanical arm arm type is controlled, it is flexible to reach operation in person
The effect of mechanical arm；Unity3D operation interface can show the centre visual angle and data of VR head-mounted display, do convenient for operator
Data point reuse and instruction modification；Data calculation module is recognized and is optimized to operational order, and under kinematic constraint condition,
The kinematics for completing flexible mechanical arm resolves, and obtains flexible mechanical arm rope length, end pose, configuration angle；Message processing module
Realize interactive terminal and flexible mechanical arm communication (message processing module is communicated by UDP with ground control system) and
Data storage is responsible for the control instruction for generating Unity and carries out safety detection, and is converted into regulation instruction lattice according to interface requirement
Formula is sent to flexible mechanical arm.
Wherein, it includes: to obtain from the operation handle of operator that data calculation module, which recognizes operational order and optimizes,
The data that take are passed to data calculation module, are instructed by the format formation operation of setting, by overrun testing, (current data subtracts
Previous bag data is gone, is compared divided by after the time with maximum speed, less than then passing through) after, it completes kinematics and resolves.
Obtain flexible mechanical arm rope length, end pose, configuration angle method include: obtain terminal position posture, pass through
Jacobian matrix can calculate flexible mechanical arm joint angle；It can be by joint angle by D-H (Denavit-Hartenberg) matrix
Calculate end pose；Configuration angle is obtained, rope length can be calculated by homogeneous transform matrix；It can will be restricted by Numerical Iteration Method
Length is converted to joint angle.
It is above-mentioned overrun testing that the control instruction that Unity is generated, which carries out safety detection, calculated rope length data, is used
Current data subtracts previous bag data, is compared divided by after the time with rope length maximum speed, less than then passing through, is greater than then to this
Bag data is handled: by increment (this bag data subtracts a upper bag data) divided by 2, being added in a bag data, obtained number
According to re-starting overrun testing.
Human-computer interaction hardware
The effect of human-computer interaction hardware is to convert computer instruction for the intention of people, can obtain flexible mechanical in such a system
Arm end posture information or configuration angle information or rope length information.The available Oculus Rift control handle of Unity
Posture information, the pose that this information can map to flexible mechanical arm end in Unity (can only directly acquire end position in this engineering
Appearance can be converted to arm type angle and rope length by function).
Detailed process is as shown in Figure 4.
(1) VR head-mounted display passes through the unity system software connection communication on cable and computer；
(2) data (operation handle including sensor positioning capturing provided in unity software by VR head-mounted display
Data), with function library (in library include end pose turns joint angle, joint angle turns rope length, joint angle turns the letters such as end pose
Number) flexible mechanical arm position and attitude information current in virtual scene is calculated.
(3) information data in unity software is mapped to flexible mechanical arm end pose, obtains flexible mechanical arm end
The instruction of pose master & slave control --- the flexible arm movement Three-dimensional Display in unity software is controlled by joint angles,
Rope length is calculated by the function that joint angle turns rope length in system, and rope length data are sent to ground control system by UDP,
Rope length data are converted to motor speed by ground control system, motor rotation are thus controlled, so that flexible mechanical arm be driven to move.
Human-computer interaction interface
Human-computer interaction interface mainly includes the initialization of flexible mechanical arm interactive terminal and management, control model setting, interface
The functions such as display setting.It is mainly realized by the selection of software interface button, the operation of entire terminal is managed.
1) Unity operating platform
The function of Unity operating platform specifically includes that
(1) starting of virtual flexible mechanical arm scene；
(2) the TCP/IP network communication connection and disconnection of platform and data transmission interface；
(3) transmission and stopping of flexible mechanical arm pose data.
2) VR head-mounted display and VR operation handle
The function of VR head-mounted display and VR operation handle specifically includes that the 3 D stereo for making operator in flexible mechanical arm
Virtual flexible mechanical arm is manipulated in Visual Scene.
3) (the forms program that Visual Studio writes is mainly used for showing data, data safety data transmission interface
Detection and transmission)
Data transmission interface content specifically includes that
(1) sending cycle is instructed, wherein the instruction cycle includes 100ms, 200ms, 1000ms.
(2) flexible mechanical arm rope drive control, end Pose Control, configuration angle control the selection of three kinds of control models；
(3) the control data that flexible mechanical arm currently issues, with the telemetry received；
(4) control instruction type selects；
(5) Tcp/Ip is connected to the network；
(6) Udp is communicated to connect.
Flexible mechanical arm operational process is as shown in figure 4, mainly comprise the steps that
Remote operating task starts, and opens human-computer interaction hardware and computer；
(1) VR head-mounted display is connected, runs head-mounted display software, and start control handle
(2) Unity3D software is run；
(3) network connection button is clicked, the TCP/IP network communication for completing Unity operating platform and data transmission interface connects
It connects；
(4) start to execute remote operating task, click flexible mechanical arm data send button；
(5) VR head-mounted display and control handle generate flexible mechanical arm relative pose data；
(6) in VR head-mounted display, operator can naked eyes intuitive judgment arm type it is whether feasible, meanwhile, it is right in Unity
Data command carries out safety detection, is then carried out in next step by detection, not by needing to regenerate master & slave control instruction；
(7) connection remote operating subsystem button is clicked in data transmission interface, the data received from Unity platform is turned
It is changed to master & slave control instruction；
(8) receive the instruction of remote operating subsystem, judge current subsystem and terminal whether failure exception, by then carrying out down
One step, not by then stopping remote operating task, task terminates；
(9) data transmission interface sends remote operating by Tcp or Udp and instructs to subsystem；
(10) flexible mechanical arm runs to designated position, and remote operating task terminates, and saves data, closes terminal.
3.3 the above embodiment of the present invention technical solution bring beneficial effects have:
(1) have friendly human-computer interaction function, realize the control visual angle of main side operation and supervise aobvious visual angle from end state and assist
It adjusts and synchronizes, operator is facilitated to complete the interactive operation to flexible mechanical arm.
(2) control to flexible mechanical arm flexibly can be naturally realized by VR equipment；
(3) the observation flexible mechanical arm ambient enviroment that can be more clear, to make more accurate judgement.
(4) under abnormal conditions occurs in operation in flexible mechanical arm interactive terminal, manual intervention can be carried out rapidly.
(5) it realizes to flexible mechanical arm end Pose Control；
5, key problem in technology of the invention point includes:
1, flexible mechanical arm interactive terminal is by VR head-mounted display and operation handle, Unity operating platform, data calculation mould
Block, message processing module composition.
2, the 3 D stereo Visual Scene of flexible mechanical arm is produced by VR head-mounted display and operation handle, it can be with
Operator is set to achieve the effect that operate flexible mechanical arm in person.
3, it can generate in real time, send principal and subordinate's remote operating control instruction, have the ability for sending different time intervals instruction, it is distant
Operational order form includes rope length instruction, the instruction of end pose, configuration angle command.
Data transmission interface can receive the telemetering rope length data that flexible arm motor is passed back, turn joint angle function by rope length,
Joint angular data is generated, in transferring back to Unity.Establish another flexible mechanical arm in unity system, and with the pass received
Save angular data driving.Operator can intuitively observe two arms arm type difference in Unity Three-dimensional Display, adjust transmitting terminal with this
The data of generation control arm type.
Data generation is the end pose data by the pose and state of sensor capture operation handle to generate, and is led to
Joint angular data and rope length data can be acquired by crossing end pose data, be instructed to generate according to instruction format.
4, flexible mechanical arm interactive terminal should carry out form safety detection to the operational order of generation, including continuous
Property transfinites.The method how to examine: the difference of the rope length data and original rope length data that newly receive is divided by between data twice
Time interval, to calculate rope length speed.By it compared with rope length maximum speed, if exceeding, this packet incremental data is halved,
It recalculates and is judged, issued again until meeting condition.
5, flexible mechanical arm interactive terminal by network with from end flexible mechanical arm connection, to distal flexible mechanical arm into
Row control.
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 skilled in the art to which the present invention belongs, it is not taking off
Under the premise of from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or use is identical, all answered
When being considered as belonging to protection scope of the present invention.
Claims (10)
1. a kind of human-computer interaction terminal of flexible mechanical arm remote operating characterized by comprising human-computer interaction hardware, 3D software
Operation interface, data calculation module, message processing module；The human-computer interaction hardware includes VR head-mounted display and manipulator
Handle；The 3D software operation interface is used to show the centre visual angle and data of VR head-mounted display；The data calculation module is used
In being recognized and optimized to operational order；The message processing module for realizing interactive terminal and flexible mechanical arm communication
And data storage, it is responsible for the control instruction of 3D Software Create carrying out safety detection, and be converted into regulation according to interface requirement
Instruction format is sent to flexible mechanical arm；To which the operation of people can be intended to be converted into flexible mechanical arm control by the human-computer interaction terminal
System instruction generates in real time, sends master-slave operation command sequence, and control flexible mechanical arm completes specified remote operating task.
2. the human-computer interaction terminal of flexible mechanical arm remote operating according to claim 1, which is characterized in that the flexible machine
Tool arm is used based on rope driving and super Redundancy Design, and flexible mechanical arm joint designs are adjacent using two freedom degree designs
Joint is mutually perpendicular to, and connects and composes whole flexible mechanical arm by each module, this conformational flexibility mechanical arm has super redundancy
Three-dimensional space motion ability.
3. the human-computer interaction terminal of flexible mechanical arm remote operating according to claim 1, which is characterized in that the data solution
It calculates module to be also used under kinematic constraint condition, the kinematics for completing flexible mechanical arm resolves, and obtains flexible mechanical arm rope length, end
At least one of pose, configuration angle three are held, so that the human-computer interaction terminal exports rope length information, configuration angle, end
At least one of pose three further completes to the control from end robot.
4. a kind of man-machine interaction method of flexible mechanical arm remote operating, it is characterised in that include the following steps:
S1, the 3 D stereo Visual Scene that flexible mechanical arm is generated by VR head-mounted display；
S2, it is grasped in person to control flexible mechanical arm arm type with reaching by operation handle control flexible mechanical arm terminal angle
Make the effect of flexible mechanical arm.
5. the man-machine interaction method of flexible mechanical arm remote operating according to claim 4, it is characterised in that further include as follows
Step:
S3, operational order is recognized and is optimized by data calculation module, and under kinematic constraint condition, completed flexible
The kinematics of mechanical arm resolves, and obtains at least one of flexible mechanical arm rope length, end pose, configuration angle three.
6. the man-machine interaction method of flexible mechanical arm remote operating according to claim 4, it is characterised in that further include as follows
Step: message processing module realizes the communication and data storage of interactive terminal and flexible mechanical arm, is responsible for the control of generation
Instruction carries out safety detection, and is converted into regulation instruction format according to interface requirement and is sent to flexible mechanical arm.
7. the man-machine interaction method of flexible mechanical arm remote operating according to claim 4, it is characterised in that: flexible arm movement
Three-dimensional Display is controlled by joint angles, calculates rope length by the function that joint angle turns rope length in system, and
Rope length is sent to motor by tcp, so that flexible mechanical arm be driven to move.
8. the man-machine interaction method of flexible mechanical arm remote operating according to claim 4, which is characterized in that further include: it is logical
Cross VR head-mounted display observation flexible mechanical arm ambient enviroment.
9. the man-machine interaction method of flexible mechanical arm remote operating according to claim 4, which is characterized in that further include: it connects
The instruction of remote operating subsystem is received, judges whether failure exception does not pass through then by then carrying out in next step for current subsystem and terminal
Stop remote operating task, task terminates.
10. a kind of storage medium, which is characterized in that be stored thereon with computer program, the computer program can be performed
To realize method described in any one of claim 5-9.
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| CN110834330A (en) * | 2019-10-25 | 2020-02-25 | 清华大学深圳国际研究生院 | Flexible mechanical arm teleoperation man-machine interaction terminal and method |
| CN111113456A (en) * | 2019-12-24 | 2020-05-08 | 兰州空间技术物理研究所 | Space manipulator on-orbit operation platform and system |
| CN111409074A (en) * | 2020-04-03 | 2020-07-14 | 江苏集萃华科智能装备科技有限公司 | Teleoperation both arms mobile robot system based on cooperation arm |
| CN111590586A (en) * | 2020-06-01 | 2020-08-28 | 南京圆梦聚力科技有限公司 | Man-machine interaction terminal and method for offline programming of mechanical arm |
| CN112603546A (en) * | 2020-12-24 | 2021-04-06 | 哈尔滨思哲睿智能医疗设备有限公司 | Remote operation system based on laparoscopic operation robot and control method |
| CN114102599A (en) * | 2021-12-02 | 2022-03-01 | 中国科学技术大学 | Flexible mechanical arm-based human-computer interaction adaptive control method and system |
| CN116476100A (en) * | 2023-06-19 | 2023-07-25 | 兰州空间技术物理研究所 | Remote operation system of multi-branch space robot |
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