CN110039547B - Man-machine interaction terminal and method for remote operation of flexible mechanical arm - Google Patents
Man-machine interaction terminal and method for remote operation of flexible mechanical arm Download PDFInfo
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- CN110039547B CN110039547B CN201910447859.XA CN201910447859A CN110039547B CN 110039547 B CN110039547 B CN 110039547B CN 201910447859 A CN201910447859 A CN 201910447859A CN 110039547 B CN110039547 B CN 110039547B
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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
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Abstract
The invention provides a man-machine interaction terminal and a man-machine interaction method for remote operation of a flexible mechanical arm. Generating a three-dimensional visual scene of the flexible mechanical arm through a VR head-mounted display; and S2, controlling the tail end posture of the flexible mechanical arm through the operating handle, so as to control the arm type of the flexible mechanical arm, and achieving the effect of operating the flexible mechanical arm in person. The invention relates to a non-contact interaction technology, in particular to an interaction technology based on machine vision. Due to the fact that the device is non-contact, the whole operation mode is non-invasive, and interference to an operator can be greatly reduced. In the interaction technology, an operator can control the touch screen in a more intuitive and natural command mode, and the interference caused by the touch equipment is effectively avoided.
Description
Technical Field
The invention relates to a man-machine interaction terminal and a man-machine interaction method for remote operation of a flexible mechanical arm.
Background
In the teleoperation system, an operator sends a control command to the robot at a far position, the robot completes a work task according to the command of the operator, and meanwhile, signals are fed back to the operator to help the operator to know the work condition of the slave robot. The teleoperation robot is a robot local autonomous control system with human participation, relates to the interaction between human and robot and the interaction between robot and environment, gives full play to the advantages of human and robot and expands the perception and behavior ability of human.
The common application is that during the aerospace activity, the tasks such as maintenance of a space station or fuel filling of a spacecraft, even surveying of the moon or the mars surface, can be completed only by remote operation of a space robot by a ground operator and/or an astronaut located in a cabin. The danger brought to astronauts by going out of the cabin is avoided, the cost of space missions is effectively reduced, and the detection capability of human is expanded. In the nuclear and chemical industries, working workers are prohibited from coming into direct contact with the environment when processing some nuclear and toxic chemical wastes. When performing underwater exploration tasks, it is often technically difficult or at a high cost to meet the requirement that humans arrive at a work area at will. In telemedicine, a doctor needs to perform remote control operation at a long-distance far end; in the minimally invasive surgery, a tiny remote control surgical instrument can be adopted, so that a smaller surgical wound and a better postoperative recovery effect are obtained.
The teleoperation system mainly refers to that an operator controls a slave-end robot to perform exploration and operation tasks through master-end man-machine interaction equipment. A typical teleoperation system consists of an operator, a human-machine interaction device, a master controller, a communication channel, a slave controller, a slave robot, and an environment. The working mode is as follows; the operator obtains the control instruction information of the person through the human-computer interaction equipment, the control instruction information is transmitted to the slave-end robot through transmission media such as radio waves and computer networks, the slave-end robot works in a specific environment according to the received instruction, and meanwhile, the information such as the working state of the slave-end robot and the interaction force with the environment is returned to the operator, so that the operator can make a correct decision. The high performance teleoperation system enables the operator to truly feel the interaction between the robot and the working environment as if the operator operates directly with his hands, with an immersive feel.
In common human-computer interaction technology, contact type mechanical devices such as a rocker, a controller imitating the shape of a robot and the like are frequently used as tools for interaction between an operator and the robot. The biggest disadvantage of this kind of controller is that it requires the operator to perform rather unintuitive arm movements to control the robot, which requires the operator to have a certain operation experience to effectively and accurately control the robot. Another man-machine interaction mode is a system for tracking the position and pose of a human hand in real time. Devices of this type include electromagnetic tracking devices, inertial sensors, data gloves, etc., which are contact-type sensors and have the disadvantage of preventing the normal hand movements of the operator.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a man-machine interaction terminal and a man-machine interaction method for remote operation of a flexible mechanical arm.
In order to solve the technical problem, the man-machine interaction terminal for the teleoperation of the flexible mechanical arm comprises man-machine interaction hardware, a 3D software operation interface, a data resolving module and an information processing module; the human-computer interaction hardware comprises a VR head-mounted display and an operating handle; the 3D software operation interface is used for displaying a central visual angle and data of the VR head-mounted display; the data resolving module is used for identifying and optimizing the operation instruction; the information processing module is used for realizing communication and data storage of the interactive terminal and the flexible mechanical arm, is responsible for carrying out safety detection on a control instruction generated by the 3D software, and is converted into a specified instruction format according to interface requirements to be sent to the flexible mechanical arm; therefore, the man-machine interaction terminal can convert the human operation intention into a flexible mechanical arm control instruction, generate and send a master-slave operation command sequence in real time, and control the flexible mechanical arm to complete a specified teleoperation task.
In some embodiments, the following technical features are also included:
the flexible mechanical arm is driven by a rope and designed to be super-redundant, joints of the flexible mechanical arm are designed to be two-degree-of-freedom, adjacent joints are perpendicular to each other, the flexible mechanical arm is connected through modules to form the whole flexible mechanical arm, and the flexible mechanical arm has super-redundant three-dimensional space motion capability.
The data calculation module is also used for completing the kinematics calculation of the flexible mechanical arm under the motion constraint condition to obtain at least one of the rope length, the tail end pose and the configuration angle of the flexible mechanical arm, so that the human-computer interaction terminal can output at least one of the rope length information, the configuration angle and the tail end pose to further complete the control of the slave-end robot.
The invention also provides a man-machine interaction method for the teleoperation of the flexible mechanical arm, which is characterized by comprising the following steps of: s1, generating a three-dimensional visual scene of the flexible mechanical arm through a VR head-mounted display; and S2, controlling the tail end posture of the flexible mechanical arm through the operating handle, so as to control the arm type of the flexible mechanical arm, and achieving the effect of operating the flexible mechanical arm in person.
In some embodiments, the following technical features are also included:
also comprises the following steps: and S3, identifying and optimizing the operation instruction through the data calculation module, and completing kinematics calculation of the flexible mechanical arm under the motion constraint condition to obtain at least one of the rope length, the tail end pose and the configuration angle of the flexible mechanical arm.
Also comprises the following steps: the information processing module realizes communication and data storage of the interactive terminal and the flexible mechanical arm, is responsible for carrying out safety detection on the generated control command, converts the generated control command into a specified command format according to interface requirements and sends the command format to the flexible mechanical arm.
The flexible arm movement three-dimensional display is controlled through joint angles, the rope length is calculated in the system through a function of the joint angles rotating the rope length, the rope length data is sent to the ground control system through UDP, the ground control system converts the rope length data into the rotating speed of the motor, and therefore the motor is controlled to rotate, and the flexible mechanical arm is driven to move.
The environment around the flexible mechanical arm is observed through the VR head-mounted display.
Further comprising: and receiving a teleoperation subsystem instruction, judging whether the current subsystem and the terminal have abnormal faults, if so, carrying out the next step, and if not, stopping the teleoperation task, and ending the task.
The invention also relates to a storage medium, characterized in that a computer program is stored thereon, which computer program can be executed to implement the above-mentioned method.
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a non-contact interaction technology, in particular to an interaction technology based on machine vision. Due to the fact that the device is non-contact, the whole operation mode is non-invasive, and interference to an operator can be greatly reduced. In the interaction technology, an operator can control the touch screen in a more intuitive and natural command mode, and the interference caused by the touch equipment is effectively avoided.
Drawings
FIG. 1A is a schematic view of a flexible robotic arm according to an embodiment of the invention.
Fig. 1B is a schematic diagram illustrating an assembly of a flexible robotic arm interaction terminal according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating hardware operation of a human-computer interaction terminal according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a human-computer interaction interface of the human-computer interaction terminal according to the embodiment of the invention.
Fig. 4 is a flowchart illustrating operation of the flexible robot arm interaction terminal according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The following embodiment of the invention designs a special teleoperation man-machine interaction terminal (as shown in fig. 1B) for a rope-driven flexible mechanical arm (as shown in fig. 1A), can convert the operation intention of a person into a flexible mechanical arm control instruction through the man-machine interaction terminal, can output rope length information, a configuration angle and a terminal pose, and can complete the control of a slave-end robot. The main functions are as follows:
(1) a three-dimensional visual scene of the flexible mechanical arm can be generated, so that an operator can achieve the effect of operating the flexible mechanical arm in person, and more accurate judgment can be made;
(2) the coordination and synchronization of the control visual angle of the master end operation and the slave end state monitoring visual angle are realized through a human-computer interaction interface, and the operation flexibility is improved;
(3) acquiring operation information of an operator in real time through a VR helmet and a VR handle;
(4) converting the operation information of an operator into a control instruction of the flexible mechanical arm;
(5) the master-slave operation command is sent in real time, and the six-degree-of-freedom control of the tail end pose of the flexible mechanical arm can be completed;
the flexible mechanical arm interactive terminal has the main functions of converting the operation intention of a person into a control instruction, generating and sending a master-slave operation command sequence in real time and controlling the flexible mechanical arm to complete a specified teleoperation task.
And operating the tail end of the flexible mechanical arm in the virtual scene by utilizing the VR handle to generate a control instruction to control the flexible mechanical arm at the slave end. The flexible mechanical arm is driven by a rope and designed to be ultra-redundant, the joints of the flexible arm are designed to be two-degree-of-freedom, the adjacent joints are perpendicular to each other, and the flexible arm is integrally formed by connecting modules, so that the mechanical arm has ultra-redundant three-dimensional space movement capability, and the obstacle crossing in narrow space can be realized. As shown in fig. 1A, the flexible mechanical arm is composed of 4 segments, each segment has two degrees of freedom, which are called configuration angle, and the configuration angle of each segment is controlled by 3 rope lengths.
As shown in fig. 1B, the flexible robot arm human-computer interaction terminal is composed of human-computer interaction hardware, a Unity3D (a 3D software) operation interface, a data resolving module, and an information processing module.
The man-machine interaction hardware mainly comprises a VR head-mounted display and an operating handle. The working schematic of the human-computer interaction hardware is shown in FIG. 2, and the composition of the human-computer interaction interface is shown in FIG. 3. The VR head-mounted display generates a three-dimensional visual scene of the flexible mechanical arm, and the operating handle can control the tail end posture of the flexible mechanical arm so as to control the arm shape of the flexible mechanical arm and achieve the effect of operating the flexible mechanical arm in person; the Unity3D operation interface can display the central view angle and data of the VR head-mounted display, so that an operator can conveniently adjust the data and modify instructions; the data resolving module identifies and optimizes the operation instruction, and completes kinematic resolving of the flexible mechanical arm under the motion constraint condition to obtain the rope length, the tail end pose and the configuration angle of the flexible mechanical arm; the information processing module realizes communication between the interactive terminal and the flexible mechanical arm (the information processing module is communicated with the ground control system through UDP) and data storage, is responsible for carrying out safety detection on the control command generated by the Unity, converts the control command into a specified command format according to interface requirements and sends the command format to the flexible mechanical arm.
Wherein, the data resolving module is used for identifying and optimizing the operation instruction and comprises the following steps: data acquired from an operation handle of an operator are transmitted into a data calculation module, an operation instruction is formed through a set format, and kinematics calculation is completed after overrun detection (the current data minus the previous packet of data, the comparison is carried out after time is divided by the previous packet of data and the maximum speed, and the comparison is passed if the time is smaller than the maximum speed).
The method for obtaining the rope length, the tail end pose and the configuration angle of the flexible mechanical arm comprises the following steps: obtaining the tail end position posture, and calculating the joint angle of the flexible mechanical arm through a Jacobian matrix; the end pose can be calculated by the joint angle through a D-H (Denavit-Hartenberg) matrix; obtaining a configuration angle, and calculating the rope length through a homogeneous transformation matrix; the rope length can be converted into the joint angle by a numerical iteration method.
And (3) carrying out safety detection on the control command generated by the Unity, namely, carrying out overrun detection, calculating rope length data, subtracting the previous packet of data from the current data, dividing the data by time, comparing the data with the maximum speed of the rope length, if the data is smaller than the maximum speed, passing the data, and if the data is larger than the maximum speed, processing the data: the increment (the data of the previous packet subtracted from the data of the previous packet) is divided by 2 and added to the data of the previous packet, and the obtained data is subjected to overrun detection again.
Human-computer interaction hardware
The human-computer interaction hardware function is to convert human intention into a computer instruction, and the terminal pose information or configuration angle information or rope length information of the flexible mechanical arm can be obtained in the system. The Unity can acquire pose information of an Oculus rise control handle, and the information can be mapped to the pose of the tail end of a flexible mechanical arm in the Unity (in the engineering, the pose of the tail end can be directly acquired, and can be converted into an arm angle and a rope length through a function).
The specific flow is shown in fig. 4.
(1) The VR head-mounted display is connected and communicated with Unity system software on the computer through a cable;
(2) in the Unity software, the current position and posture information of the flexible mechanical arm in the virtual scene is calculated and obtained through data (including data of an operating handle positioned and captured by a sensor) provided by a VR head-mounted display and a function library (including functions of turning a joint angle at a tail end position, turning a rope at a joint angle, turning the tail end position at the joint angle and the like).
(3) Mapping information data in the Unity software to the tail end pose of the flexible mechanical arm to obtain a master-slave control instruction of the tail end pose of the flexible mechanical arm, wherein the flexible arm motion three-dimensional display in the Unity software is controlled by a joint angle, the rope length is calculated in the system through a function of the joint angle to the rope length, the rope length data is sent to a ground control system through UDP (user datagram protocol), and the ground control system converts the rope length data into the motor rotating speed, so that the motor is controlled to rotate, and the flexible mechanical arm is driven to move.
Human-computer interaction interface
The human-computer interaction interface mainly comprises the functions of initialization and management of the flexible mechanical arm interaction terminal, control mode setting, interface display setting and the like. The operation of the whole terminal is managed mainly by selecting and realizing a button on a software interface.
1) Unity operating platform
The functions of the Unity operating platform mainly include:
(1) starting a virtual flexible mechanical arm scene;
(2) the platform is connected and disconnected with the TCP/IP network communication of the data transmission interface;
(3) and sending and stopping the pose data of the flexible mechanical arm.
2) VR head-mounted display and VR operating handle
VR head-mounted display and VR operating handle's function mainly includes: and enabling an operator to control the virtual flexible mechanical arm in the three-dimensional visual scene of the flexible mechanical arm.
3) Data transmission interface (Visual Studio written window program, mainly used for data display, data safety detection and transmission)
The data transmission interface mainly comprises the following contents:
(1) and instruction sending periods, wherein the instruction periods comprise 100ms, 200ms and 1000 ms.
(2) Selecting three control modes of flexible mechanical arm rope drive control, tail end pose control and configuration angle control;
(3) the control data sent by the flexible mechanical arm at present and the received telemetering data;
(4) selecting the type of the control instruction;
(5) Tcp/Ip network connection;
(6) udp communication connection.
The operation flow of the flexible mechanical arm is shown in fig. 4, and mainly comprises the following steps:
starting a teleoperation task, and starting man-machine interaction hardware and a computer;
(1) connect VR head-mounted display, run head-mounted display software, and start control handle
(2) Running Unity3D software;
(3) clicking a network connection button to complete the TCP/IP network communication connection between the Unity operating platform and the data transmission interface;
(4) starting to execute a teleoperation task, and clicking a data sending button of the flexible mechanical arm;
(5) the VR head-mounted display and the control handle generate relative pose data of the flexible mechanical arm;
(6) in the VR head-mounted display, an operator can visually judge whether the arm shape is feasible or not, meanwhile, the security of the data command is detected in Unity, and if the data command is detected, the next step is carried out without regenerating a master-slave control command;
(7) clicking a button connected with the teleoperation subsystem on a data transmission interface, and converting data received from the Unity platform into a master-slave control instruction;
(8) receiving a teleoperation subsystem instruction, judging whether the current subsystem and the terminal have abnormal faults or not, if so, carrying out the next step, otherwise, stopping the teleoperation task, and ending the task;
(9) the data transmission interface sends teleoperation instructions to the subsystem through Tcp or Udp;
(10) and the flexible mechanical arm runs to a specified position, the teleoperation task is finished, the data is stored, and the terminal is closed.
3.3 the technical scheme of the embodiment of the invention has the following beneficial effects:
(1) the flexible mechanical arm has friendly man-machine interaction function, realizes coordination and synchronization of a control visual angle of master end operation and a slave end state monitoring visual angle, and is convenient for an operator to finish interactive operation on the flexible mechanical arm.
(2) The flexible mechanical arm can be flexibly and naturally controlled through VR equipment;
(3) the surrounding environment of the flexible mechanical arm can be observed more clearly, and therefore more accurate judgment can be made.
(4) And manual intervention can be rapidly carried out under the condition that the flexible mechanical arm interactive terminal is abnormal in operation.
(5) The pose control of the tail end of the flexible mechanical arm is realized;
5. the technical key points of the invention comprise:
1. the flexible mechanical arm interactive terminal is composed of a VR head-mounted display, an operating handle, a Unity operating platform, a data resolving module and an information processing module.
2. The three-dimensional visual scene of the flexible mechanical arm can be generated through the VR head-mounted display and the operating handle, so that an operator can achieve the effect of operating the flexible mechanical arm in person.
3. The remote control system can generate and send master-slave remote control commands in real time, has the capability of sending different time interval commands, and has the remote control command forms including a rope length command, a tail end pose command and a configuration angle command.
The data transmission interface can receive telemetering rope length data transmitted back by the flexible arm motor, joint angle data are generated through a rope length-to-joint angle function, and the joint angle data are transmitted back to Unity. Another flexible robotic arm was set up in the Unity system and driven with the received joint angle data. An operator can visually observe the difference between the two arm types in the Unity three-dimensional display, so as to adjust the data generated by the sending end and control the arm types.
The data generation is end pose data generated by capturing the pose and state of the operating handle through a sensor, and joint angle data and rope length data can be obtained through the end pose data, so that an instruction is generated according to an instruction format.
4. The flexible mechanical arm interactive terminal is used for carrying out form safety detection on the generated operation instruction, wherein the form safety detection comprises continuity, overrun and the like. The method how to check is as follows: the difference between the newly received rope length data and the original rope length data is divided by the time interval between the two data, so that the rope length speed is calculated. And comparing the speed with the maximum speed of the rope length, if the speed exceeds the maximum speed, halving the incremental data of the bag, recalculating and judging until the conditions are met, and sending out the incremental data.
5. And the flexible mechanical arm interaction terminal is connected with the slave end flexible mechanical arm through a network to control the remote end flexible mechanical arm.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (9)
1. A man-machine interaction terminal for remote operation of a flexible mechanical arm is characterized by comprising: the system comprises human-computer interaction hardware, a 3D software operation interface, a data resolving module and an information processing module; the human-computer interaction hardware comprises a VR head-mounted display and an operating handle; the 3D software operation interface is used for displaying a central visual angle and data of the VR head-mounted display; the data resolving module is used for identifying and optimizing the operation instruction; the information processing module is used for realizing communication and data storage of the interactive terminal and the flexible mechanical arm, is responsible for carrying out safety detection on a control instruction generated by the 3D software, and is converted into a specified instruction format according to interface requirements to be sent to the flexible mechanical arm; the man-machine interaction terminal can convert the human operation intention into a flexible mechanical arm control instruction, generate and send a master-slave operation command sequence in real time, and control the flexible mechanical arm to complete a specified teleoperation task; wherein the data resolving module identifying and optimizing the operation instructions comprises: data acquired from the operating handle is transmitted into the data resolving module, an operating instruction is formed through a set format, kinematics resolving is completed after overrun detection is passed, the overrun detection is that the previous packet of data is subtracted from the current data, the current data is divided by time and then compared with the maximum speed, and the current data passes if the current data is smaller than the maximum speed; and if the overrun detection fails, processing the current data: dividing the increment of subtracting the previous packet of data from the current data by 2, and adding the increment to the previous packet of data to obtain data for carrying out overrun detection again;
the data resolving module is also used for completing kinematic resolving of the flexible mechanical arm under the motion constraint condition to obtain at least one of the rope length, the tail end pose and the configuration angle of the flexible mechanical arm, so that the human-computer interaction terminal can output at least one of the rope length information, the configuration angle and the tail end pose to further complete control over the slave-end robot; the method for obtaining the rope length, the tail end pose and the configuration angle of the flexible mechanical arm comprises the following steps: acquiring the tail end position posture, and calculating a joint angle of the flexible mechanical arm through a Jacobian matrix; calculating the terminal pose by the joint angle through the D-H matrix; obtaining a configuration angle, and calculating the rope length through a homogeneous transformation matrix; the rope length is converted into the joint angle by a numerical iteration method.
2. The human-computer interaction terminal for the teleoperation of the flexible mechanical arm according to claim 1, wherein the flexible mechanical arm is designed based on rope driving and super redundancy, the flexible mechanical arm joint design adopts two-degree-of-freedom design, adjacent joints are perpendicular to each other, and the flexible mechanical arm is integrally formed by connecting modules, so that the flexible mechanical arm has super redundancy three-dimensional space motion capability.
3. A man-machine interaction method for remote operation of a flexible mechanical arm, which is characterized in that the man-machine interaction terminal for remote operation of the flexible mechanical arm in claim 1 is adopted for man-machine interaction, and comprises the following steps:
s1, generating a three-dimensional visual scene of the flexible mechanical arm through a VR head-mounted display;
s2, controlling the tail end posture of the flexible mechanical arm through the operating handle, so as to control the arm shape of the flexible mechanical arm, and achieving the effect of operating the flexible mechanical arm in person;
s3: identifying and optimizing the operation instruction through a data resolving module: and data acquired from the operating handle is transmitted into the data calculation module, an operating instruction is formed through a set format, and kinematics calculation is completed after overrun detection is passed, wherein the overrun detection is that the previous packet of data is subtracted from the current data, the current data is divided by time and then compared with the maximum speed, and the current data passes when the current data is smaller than the maximum speed.
4. The human-computer interaction method for teleoperation of the flexible mechanical arm according to claim 3, wherein the step S3 further comprises: and under the motion constraint condition, completing the kinematic calculation of the flexible mechanical arm to obtain at least one of the rope length, the tail end pose and the configuration angle of the flexible mechanical arm.
5. The human-computer interaction method for the teleoperation of the flexible mechanical arm according to claim 3, further comprising the following steps: the information processing module realizes communication and data storage of the interactive terminal and the flexible mechanical arm, is responsible for carrying out safety detection on the generated control command, converts the generated control command into a specified command format according to interface requirements and sends the command format to the flexible mechanical arm.
6. The human-computer interaction method for the teleoperation of the flexible mechanical arm according to claim 3, wherein the method comprises the following steps: the flexible arm movement three-dimensional display is controlled through joint angles, the rope length is calculated in the system through a function of the joint angles to the rope length, and the rope length is sent to the motor through tcp, so that the flexible mechanical arm is driven to move.
7. The human-computer interaction method for teleoperation of the flexible mechanical arm according to claim 3, further comprising: the environment around the flexible mechanical arm is observed through the VR head-mounted display.
8. The human-computer interaction method for teleoperation of the flexible mechanical arm according to claim 3, further comprising: and receiving a teleoperation subsystem instruction, judging whether the current subsystem and the terminal have abnormal faults, if so, carrying out the next step, and if not, stopping the teleoperation task, and ending the task.
9. A storage medium having stored thereon a computer program executable to implement the method of any one of claims 4-8.
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| CN110834330B (en) * | 2019-10-25 | 2020-11-13 | 清华大学深圳国际研究生院 | Flexible mechanical arm teleoperation man-machine interaction terminal and method |
| CN111113456B (en) * | 2019-12-24 | 2023-06-27 | 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 |
| CN114102599B (en) * | 2021-12-02 | 2023-10-20 | 中国科学技术大学 | Man-machine interaction self-adaptive control method and system based on flexible mechanical arm |
| 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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