CN111590537B - Teleoperation interactive operation method based on force position feedback - Google Patents
Teleoperation interactive operation method based on force position feedback Download PDFInfo
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- CN111590537B CN111590537B CN202010445177.8A CN202010445177A CN111590537B CN 111590537 B CN111590537 B CN 111590537B CN 202010445177 A CN202010445177 A CN 202010445177A CN 111590537 B CN111590537 B CN 111590537B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a teleoperation interactive operation method based on force position feedback, which is characterized in that the position posture operation of an operator on a master hand is transmitted to a slave hand through a communication network, the slave hand controller acquires the position information of the master hand as a slave hand position tracking target, the slave hand completes position tracking and transmits the slave hand and external environment force to the master hand, and the master hand completes force tracking on the slave hand according to the force information fed back by the slave hand. When the feedback force information received by the master hand is larger than the expected value and the position posture of the tail end of the slave hand changes due to external force, the posture change of the slave hand is transmitted to the master hand through the position posture feedback channel, the master hand carries out position tracking on the slave hand according to the received position posture information of the slave hand, and finally force position feedback of the slave hand is completed. The method provided by the invention can track the force and the position of the slave hand in real time in the teleoperation process, sense the touch force of the slave hand and the position posture change caused by the external environment force, improve the operation immersion feeling, reduce the operation error rate and improve the operation efficiency.
Description
Technical Field
The invention belongs to the field of teleoperation master-slave interaction control, and relates to a teleoperation interactive operation method based on force position feedback. In particular to a teleoperation interactive operation method with higher immersion and accuracy based on force and position simultaneous feedback.
Background
The document "uncertain teleoperation adaptive bilateral control of underwater manipulators, journal of Beijing aerospace university, 2018, vol44 (09), p1918-1925" discloses an adaptive bilateral control method for the uncertain external environment problem in the teleoperation process. The method is based on uncertainty of model parameters and motion parameters of a master manipulator, reference adaptive impedance control based on a nominal model is designed, the uncertainty of the model is compensated by using an adaptive control law, tracking matching of force applied by an operator on a master manipulator and a signal of interaction force between a slave manipulator and the environment is realized, the consistency of force-position on the master manipulator and the slave manipulator is met, and the purpose of really sensing the touch force of the slave manipulator by the operator is realized. The method disclosed by the document comprises two parts, namely adaptive position tracking of the slave hand and adaptive force tracking of the master hand, and only meets the condition that an operator really senses the touch force of the slave hand, and the slave hand can be collided in an external environment in an unknown environment to cause tremor at the tail end of the slave hand.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a teleoperation interactive operation method based on force position feedback, and solves the problems that when the traditional interactive control strategies such as bilateral control only realize position tracking of a slave hand to a master hand, force tracking of the master hand to the slave hand and position change of the slave hand under the action of external environmental force cannot be realized, the position tracking of the master hand to the slave hand is lack of interactive immersion.
Technical scheme
A teleoperation interactive operation method based on force position feedback is characterized by comprising the following steps:
step 1, acquiring master hand data: in the process of movement, the master hand collects the real-time position and posture information of the hand controller at equal time intervals
Will be provided with
Position and attitude information of the previous time
Making a difference to obtain a main hand advancing amount P;
pressing the primary hand-motion amount Δ P by Δ P 0 Mapping of = k × Δ P to motion command Δ P of end of mechanical arm 0
ΔP 0 ＝k*ΔP＝[Δx Δy Δz Δα Δθ Δγ]
Wherein: k is an operation scale factor; delta X, delta Y and delta Z are position increment of the tail end of the main hand in the X axis direction, the Y axis direction and the Z axis direction respectively; delta alpha, delta theta and delta gamma are respectively the increment of the attitude angle of the tail end of the main hand around the X axis, the Y axis and the Z axis;
step 2: the current desired position and posture P from the end of the hand is advanced by the position and posture of the main hand by an amount delta P 0 And from the hand end initial position attitude P 0 Obtaining:
P＝P 0 +ΔP 0 ＝[x y z α θ γ]
wherein: x, Y and Z are expected positions of the tail end of the hand in the X axis direction, the Y axis direction and the Z axis direction respectively; α, θ, γ are the desired attitude angles from the hand end about the X, Y and Z axes, respectively; p is a radical of x 、p y 、p z The position x, y and z from the tail end of the hand are determined by the right hand rule, wherein a is an approximate vector, o is an azimuth vector, and n is a normal vector;
and controlling the motion of the slave hand by the expected pose to realize the position tracking of the slave hand to the master hand, and simultaneously opening two channels of force feedback and position feedback from the slave hand to the master hand.
And 3, step 3: measuring external environmental force F received from the end of hand by force sensor at the end of hand s And measuring the position and posture P after the action of the tail end of the hand and the external environment c And obtaining the pose increment P generated after the hand tail end acts on the external environment by differentiating the pose increment P with the expected pose P c ；
F s ＝[F sx F sy F sz H sx H sy H sz ]
P c ＝[x c y c z c α c θ c γ c ]
ΔP c ＝P c -P＝[Δx c Δy c Δz c Δα c Δθ c Δγ c ]
Wherein: f sx 、F sy 、F sz 、H sx 、H sy 、H sz Force and torque in three directions of X, Y and Z from the tail end of the hand are respectively; x is the number of c 、y c 、z c The positions of the tail end of the hand in three directions of an X axis, a Y axis and a Z axis after the tail end of the hand acts with an external environment are respectively shown; alpha (alpha) ("alpha") c 、θ c 、γ c The posture angles around the X axis, the Y axis and the Z axis after the tail end of the hand acts on the external environment are respectively shown; delta X, delta Y, delta Z, delta alpha, delta theta and delta gamma are respectively the increment of the position and attitude angle in the X axis, the Y axis and the Z axis after the tail end of the hand acts with the external environment;
external environment force borne by the tail end of the slave hand is transmitted to the master hand controller through the force feedback channel, so that force tracking of the tail end of the master hand to the slave hand is realized; and transmitting the pose increment after the tail end of the slave hand acts with the external environment to the master hand controller through a position feedback channel.
And 4, step 4: setting a threshold value F of external environment acting force at the master hand end k If F is s ＞F k And Δ P c If the position is more than 0, the position feedback control channel of the master hand is opened, the operation mode is changed from the master-slave mode to the slave-master mode, and the current pose of the master hand is changed from the master hand
And pose increment Δ P c Calculating to obtain an expected pose P of the master hand under the position feedback of the slave hand mc Controlling the main hand to be in-position and attitude increment delta P c The master hand can track the position feedback of the slave hand by moving under the action of the auxiliary hand;
wherein x is mc 、y mc 、z mc Respectively providing expected positions of the tail end of the master hand in three directions of an X axis, a Y axis and a Z axis under the position feedback of the slave hand; alpha is alpha mc 、θ mc 、γ mc Respectively the desired pose angles of the master hand tip about the X, Y and Z axes with feedback from the hand position.
Advantageous effects
The invention provides a teleoperation interactive operation method based on force position feedback, which is characterized in that position posture operation of an operator on a master hand is transmitted to a slave hand through a communication network, slave hand controller acquires master hand position information as a slave hand position tracking target, the slave hand completes position tracking and transmits slave hand and external environment force to the master hand, and the master hand completes force tracking on the slave hand according to force information fed back by the slave hand. When the feedback force information received by the master hand is larger than an expected value and the position posture of the tail end of the slave hand is changed due to external force, the position posture change of the slave hand is transmitted to the master hand through the position posture feedback channel, the master hand carries out position tracking on the slave hand according to the received position posture information of the slave hand, and finally force position feedback of the slave hand is completed. The method provided by the invention can track the force and the position of the slave hand in real time in the teleoperation process, sense the touch force of the slave hand and the position posture change caused by the external environment force, improve the operation immersion, reduce the operation error rate and improve the operation efficiency.
The invention has the beneficial effects that: in the teleoperation process, the slave mobile mechanical arm can often have the effect of contacting and colliding with the external environment and the like, so that the situation of tremor and the like at the tail end of the slave mobile mechanical arm is caused, when the tail end of the slave mobile mechanical arm generates tiny pose changes such as tremor and the like due to the effect of the slave mobile mechanical arm with the external environment, through force and position double-channel feedback, the master hand receives the position feedback of the slave hand and realizes the position feedback tracking of the master hand on the slave hand while receiving the feedback force of the slave hand, the immersion sense of an operator is improved, the error rate of operation is reduced, and the error operation is avoided from continuing to occur.
Detailed Description
The invention will now be further described with reference to the examples:
according to the invention, a Haption six-degree-of-freedom force feedback device is used as a master hand, a Kuka iiiwa seven-degree-of-freedom cooperative robot is used as a slave hand, a teleoperation interactive system is built, teleoperation of a space manipulator is simulated, a jack task is completed, and the whole system control strategy is divided into three channels, namely a master-slave control channel, a slave hand force feedback channel and a slave hand position feedback channel. The specific implementation mode is as follows:
step one, acquiring data of a master hand, and acquiring real-time position and posture information of a hand controller at equal time intervals in the movement process of the master hand
Real-time position and posture information of the main hand to be collected
Position and attitude information of the previous time
Obtaining a main hand advancing amount delta P by difference; the advancing amount Delta P is expressed as Delta P 0 Mapping of = k × P to motion command Δ P of end of mechanical arm 0 Where k is the operating scaling factor. The unit of the motion amount of the master hand is m, the unit of the motion amount of the slave hand manipulator is mm, k =1000 is taken, when the master hand moves 0.1m along the X axis from the original position and rotates 90 degrees around the X axis,
ΔP 0 ＝k*ΔP＝[100 0 0 90 0 0] (1)
step two, the position and posture advance quantity delta P of the main hand 0 And initial position attitude P from the end of the hand Kuka arm 0 And obtaining the current expected position and posture P of the slave hand end, and obtaining a slave hand mechanical arm end posture matrix C by P.
Assuming an initial position attitude P 0 ＝[200 0 0 0 0 0]Then, then
P＝P 0 +ΔP 0 ＝[x y z α θ γ]＝[300 0 0 90 0 0] (2)
Wherein X, Y and Z are expected positions of the tail end of the hand in three directions of an X axis, a Y axis and a Z axis respectively; α, θ, γ are the desired attitude angles from the end of the hand about the X, Y and Z axes, respectively. p is a radical of x 、p y 、p z I.e. from the hand end position x, y, z, a is the approximate vector, o is the orientation vector, n is the normal vector, determined by the right hand rule.
The expected pose controls the motion of the slave hand to realize the position tracking of the slave hand to the master hand, the motion of the tail end of the mechanical arm to the position of the jack is controlled through Haption, and two channels of force feedback and position feedback from the slave hand to the master hand are opened at the same time.
Step three, measuring external environment force F borne by the tail end of the slave hand by a force sensor at the tail end of the slave hand s And measuring the position and posture P after the action of the tail end of the hand and the external environment c And obtaining the pose increment delta P generated after the hand tail end acts on the external environment by differentiating the pose delta P with the expected pose P c 。
Assuming that the Kuka tail end touches the hole wall in the moving process, the sensor measures that the Kuka tail end is subjected to the impact force along the X-axis negative direction, the size of the Kuka tail end is 10N, and the tail end of the mechanical arm generates small displacement of 5mm along the X-axis negative direction under the action of the impact force, the Kuka tail end can move along the X-axis negative direction
F s ＝[F sx F sy F sz H sx H sy H sz ]＝[-10 0 0 0 0 0] (4)
P c ＝[x c y c z c α c θ c γ c ]＝[295 0 0 90 0 0] (5)
ΔP c ＝P c -P＝[Δx c Δy c Δz c Δα c Δθ c Δγ c ]＝[-5 0 0 0 0 0] (6)
Wherein, F sx 、F sy 、F sz 、H sx 、H sy 、H sz Force and torque in three directions of X, Y and Z from the tail end of the hand are respectively; x is the number of c 、y c 、z c The positions of the tail end of the hand in three directions of an X axis, a Y axis and a Z axis after the tail end of the hand acts with an external environment are respectively shown; alpha (alpha) ("alpha") c 、θ c 、γ c Respectively are attitude angles around an X axis, a Y axis and a Z axis after the tail end of the hand acts with the external environment; and the delta X, the delta Y, the delta Z, the delta alpha, the delta theta and the delta gamma are respectively the position and attitude angle increment in the X axis direction, the Y axis direction and the Z axis direction after the hand end acts with the external environment.
External environment force borne by the tail end of the slave hand is transmitted to the master hand controller through the force feedback channel, so that force tracking of the tail end of the master hand to the slave hand is realized; and transmitting the pose increment after the tail end of the slave hand acts with the external environment to the master hand controller through a position feedback channel. At this point, the dominant hand, haption, receives a force of-10N along the X-axis and a position increment of-5 mm through the force position feedback channel.
Step five, if the position of the tail end of the mechanical arm is correct, the external environment force applied to the tail end of the mechanical arm is 0, and therefore a threshold value F of the external environment force is set at the master hand end k =0, when F s ＞F k And Δ P c If the position of the master hand is more than 0, closing the master-slave channel, opening the master hand position feedback control channel, changing the operation mode from the master-slave mode to the slave-master mode, and changing the current pose of the master hand from the current pose of the master hand
And pose increment Δ P c Calculating to obtain an expected pose P of the master hand under the position feedback of the slave hand mc Controlling the main hand to be in-position and attitude increment delta P c The master hand can move under the action of the control unit, and the master hand can track the position feedback of the slave hand.
In the first step, it can be known that,
then:
wherein x is mc 、y mc 、z mc Respectively providing expected positions of the tail end of the master hand in three directions of an X axis, a Y axis and a Z axis under the position feedback of the slave hand; alpha (alpha) ("alpha") mc 、θ mc 、γ mc Respectively the desired pose angles of the master hand tip about the X, Y and Z axes under slave hand position feedback.
Through the steps from the first step to the fifth step, the force borne by the master hand is updated in real time, the motion of the master hand is controlled, and the force-position feedback tracking of the slave hand generated under the action of external environment force by the master hand is realized.
Claims (1)
1. A teleoperation interactive operation method based on force position feedback is characterized by comprising the following steps:
step 1, acquiring master hand data: in the process of movement, the master hand collects the real-time position and posture information of the hand controller at equal time intervals
Will be provided with
Position and attitude information of the previous time
Obtaining a main hand advancing amount delta P by difference;
press the main hand advance amount delta PΔP 0 Mapping of = k × Δ P to motion command Δ P of end of mechanical arm 0
ΔP 0 ＝k*ΔP＝[Δx Δy Δz Δα Δθ Δγ]
Wherein: k is an operation scale factor; delta X, delta Y and delta Z are position increment of the tail end of the main hand in the X axis direction, the Y axis direction and the Z axis direction respectively; delta alpha, delta theta and delta gamma are respectively increment of attitude angles of the tail end of the main hand around an X axis, a Y axis and a Z axis;
and 2, step: the current desired position and posture P from the end of the hand is advanced by the position and posture of the main hand by an amount delta P 0 And from the hand end initial position pose P 0 Obtaining:
P＝P 0 +ΔP 0 ＝[x y z α θ γ]
wherein: x, Y and Z are expected positions of the tail end of the hand in the X axis direction, the Y axis direction and the Z axis direction respectively; α, θ, γ are the desired attitude angles from the end of the hand about the X, Y and Z axes, respectively; p is a radical of x 、p y 、p z The position x, y and z from the tail end of the hand are determined by the right hand rule, wherein a is an approximate vector, o is an azimuth vector, and n is a normal vector;
and 3, step 3: measuring external environmental force F received from the end of hand by force sensor at the end of hand s And measuring the position and posture P after the action of the tail end of the hand and the external environment c And obtaining the pose increment delta P generated after the hand tail end acts on the external environment by differentiating the pose delta P with the expected pose P c ；
F s ＝[F sx F sy F sz H sx H sy H sz ]
P c ＝[x c y c z c α c θ c γ c ]
ΔP c ＝P c -P＝[Δx c Δy c Δz c Δα c Δθ c Δγ c ]
Wherein: f sx 、F sy 、F sz 、H sx 、H sy 、H sz Force and torque in three directions of X, Y and Z from the tail end of the hand respectively; x is a radical of a fluorine atom c 、y c 、z c The positions of the tail end of the hand in three directions of an X axis, a Y axis and a Z axis after the tail end of the hand acts with an external environment are respectively shown; alpha is alpha c 、θ c 、γ c Respectively are attitude angles around an X axis, a Y axis and a Z axis after the tail end of the hand acts with the external environment; delta X, delta Y, delta Z, delta alpha, delta theta and delta gamma are respectively the increment of the position and attitude angle in the X axis, the Y axis and the Z axis after the tail end of the hand acts with the external environment;
and 4, step 4: setting a threshold value F of external environment acting force at the master hand end k If F is s ＞F k And Δ P c If the position of the master hand is more than 0, starting a master hand position feedback control channel, changing the operation mode from a master-slave mode to a slave-master mode, and changing the current pose of the master hand from the current pose of the master hand
And pose increment Δ P c Calculating to obtain an expected pose P of the master hand under the position feedback of the slave hand mc Controlling the main hand to be in-position and attitude increment delta P c The master hand can track the position feedback of the slave hand by moving under the action of the auxiliary hand;
wherein x is mc 、y mc 、z mc Respectively providing expected positions of the tail end of the master hand in three directions of an X axis, a Y axis and a Z axis under the position feedback of the slave hand; alpha is alpha mc 、θ mc 、γ mc Respectively the expected attitude angles of the tail end of the master hand around the X axis, the Y axis and the Z axis under the feedback of the position of the slave hand; the method comprises the following steps of performing real-time force-position tracking on a slave hand in the teleoperation process, and sensing the touch force of the slave hand and the position posture change generated by external environment force; through force position double-channel feedback, the master hand receives the position feedback of the slave hand and realizes the position feedback tracking of the master hand to the slave hand while receiving the feedback force of the slave hand.
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