CN114012729A - Three-side teleoperation system and method for foot-type mobile robot fused with interaction force estimation algorithm - Google Patents
Three-side teleoperation system and method for foot-type mobile robot fused with interaction force estimation algorithm Download PDFInfo
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- CN114012729A CN114012729A CN202111352020.1A CN202111352020A CN114012729A CN 114012729 A CN114012729 A CN 114012729A CN 202111352020 A CN202111352020 A CN 202111352020A CN 114012729 A CN114012729 A CN 114012729A
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- 238000000034 method Methods 0.000 title claims description 18
- 230000002452 interceptive effect Effects 0.000 claims abstract description 15
- 241000238631 Hexapoda Species 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 19
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 6
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- 230000001419 dependent effect Effects 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- 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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- 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
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate 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 belongs to the technical field of foot type robot teleoperation. The invention discloses an interactive force estimation controller applied to a hexapod robot, which can estimate the interactive force between a master robot and an operator as well as between a slave robot and the environment under the condition that the hexapod robot does not have a force sensor. The invention discloses an interactive force estimator applied to a hexapod robot, which is applied to a structural system of a robot with double main ends and a robot with a single slave end, and provides a design of the interactive force estimator based on an interference observer. The invention can effectively solve the problem that the slave-end hexapod robot is easy to generate under the condition of no force sensor, and can reduce the cost and improve the transparency of the system on the premise of ensuring the stability of the system.
Description
Technical Field
The invention belongs to the technical field of teleoperation of foot robots, and particularly relates to a teleoperation control method applied to interaction force estimation of a hexapod robot.
Background
The foot-type walking robot has stronger adaptive capacity and trafficability than the traditional wheeled or tracked robot in a more complex scene, so that the foot-type walking robot is widely applied to the fields of disaster relief, sea and air exploration, exploration and the like. However, it should be appreciated that although the legged robot can replace human beings to appear in dangerous working environments, it is difficult to ensure that the robot can autonomously meet task requirements under complicated and variable conditions if the robot is solely dependent on an intelligent control algorithm of the robot due to unpredictable complexity of a working site. In order to improve the stability of the robot in the process of executing tasks, the perception and decision-making capability of people needs to be integrated into the whole control system through a teleoperation system, so that the motion performance of the robot is improved, and the robot can better complete the established special tasks.
However, research on the existing hexapod robot teleoperation control method finds that the teleoperation control method mostly adopts a single master-single slave (SMSS) control framework to control the traveling speed of the robot. In order to make teaching more smooth and make students and teachers feel personally on the scene in the teaching process, a multi-master-single-slave control structure is adopted for control, and three-side teleoperation shared control is achieved. The teleoperation needs to return the acting force of the robot from the end and the environment to the operator, so as to realize force feedback, so that the operator applies correct force, and a force sensor is needed to measure the force, but the force sensor is usually high in price, and is not suitable for installing the force sensor under some special environments, so that a force estimator is designed to estimate the acting force to realize the replacement of the force sensor in order to save cost and better adapt to the environment. How to develop a force estimation controller applied to a legged robot to accurately estimate the interaction force and provide good stability and transparency is a main control technical problem to be solved by the invention.
Disclosure of Invention
The invention aims to provide a three-side teleoperation system and a three-side teleoperation method for a foot-type mobile robot fusing an interactive force estimation algorithm, which realize the shared control of two main-end robots on a slave-end hexapod robot, ensure that the interactive force can be accurately estimated under the condition that no force sensor is used for measuring the interactive force, and provide good stability and transparency for the system.
In order to solve the technical problems, the invention is realized by the following technical scheme:
step 1: the authority factor in the structure of the three-side remote operation system aims to realize signal transmission between double main terminals and distribution of authority controlled by a slave terminal through the authority factor, and decomposes a feedback signal of the slave terminal according to a value obtained by the authority factor.
Step 2: the joint angle displacement in the slave-end robot dynamic equation of the system is modified into the speed of the slave-end robot body, and the estimation of the interaction force of the master-slave-end robot is realized on the basis of the dynamic equation and the disturbance observer.
And step 3: and (3) acceleration information exists in the estimated interaction force information, a new function Z is defined for removing measurement or calculation of the acceleration, and a new estimated force of the interaction force of the master-slave end robot is obtained. And (5) bringing the estimated interaction force back to the original kinetic equation, and designing a system control law.
The invention has the beneficial effects that:
according to the three-side teleoperation system and the method for the foot-type mobile robot with the integration of the interactive force estimation algorithm, the force estimator is designed through the state observer, so that the stability and the transparency of the system are ensured, and the problem that the tracking performance of the system is reduced because a sensor cannot be installed to measure the interactive force in some environments is solved; on the other hand, many negative effects brought by the sensor are solved, and the design cost is reduced.
Drawings
FIG. 1 is a schematic configuration of a slave-end hexapod robot;
FIG. 2 is a schematic diagram of the forces applied to the foot end of the robot with the ground and the slave end being six-legged
FIG. 3 is a three-side teleoperation system framework diagram of the present system
FIG. 4 is a flow chart of the system
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples.
One embodiment of the invention: a three-side teleoperation system and method for a foot-type mobile robot fused with an interactive force estimation algorithm comprise the following steps:
step 1: in order to obtain better transparency, the control structure adopted by the teleoperation system is a four-channel structure, the teleoperation system adopts two main-end robots and a slave-end robot, the two main-end robots can respectively control the speed and the force of the slave-end robot, and one purpose of the double-main-end robot is that when one operator has a control problem, the other operator can cooperatively control the slave-end robot. The switching of the two modes adopts a soft transition control scheme to ensure that the stable response of the system is added with an authority factor in a trilateral control structure of the system, the authority factor of each master-end robot for controlling the slave-end robot is delta, and the value range of the authority factor delta is 0-1. In order to ensure that the conversion of the authority factor from 0 to 1 is smoother, a sin function is used as a transitional state, the selection of the authority factor is determined by the speed tracking errors of two master-end robots and two slave-end robots, and the selection of the authority factor is expressed as:
wherein, when the ratio of the tracking error between the master robot 1 and the slave robot to the tracking error between the master robot 2 and the slave robot is less than a predetermined value ve1When the slave robot is controlled by the master robot 1, the ratio of the error tracking of the two is ve1 and ve1The two main-end robots cooperatively control the process, and when the error tracking of the two main-end robots is more than ve1Controlled by the master robot 2.
Step 2: designing an interactive force estimator, firstly analyzing and writing a dynamic model of a system, establishing the dynamic model of the system under a normal condition by using a traditional Newton-Euler formula, and firstly, deducing the traditional dynamic model of a master end and a slave end by the Newton-Euler formula, wherein the dynamic model comprises displacement, speed, acceleration, an inertia matrix, a gravity matrix, a Goldfish force matrix and the like of a joint.
The master-slave end dynamic model is as follows:
the dynamic model established by the method is suitable for a common teleoperation system, and the dynamic model of the system needs to be changed due to the particularity of the system, because the slave robot is a hexapod robot. From the end robot is schematically shown in fig. 1, the velocity of the leg joint is
The speed of organism is v, because the six-legged robot leg degree of freedom of slave end is too much, if control every shank articular degree of freedom, can make operator's operation degree of difficulty greatly increased and can increase main end machine quantity, increase a lot of costs, so the organism speed of this system control slave end robot, through the speed of main end robot control organism, then through slave end robot self algorithm with organism speed conversion shank speed, make the normal steady walking of slave end robot.
The speed of the robot body is the same as that of the whole slave-end robot under the fixed coordinate system. Therefore, the joint displacement, velocity and acceleration in the dynamic model of the system are converted into the velocity of the body, which is equivalent to the overall velocity of the hexapod robot with the earth as a reference system, i.e. the dynamic model of the system is changed into:
where s denotes a slave-end robot, m denotes a master-end robot, r is 1 and denotes a master-end robot 1 and 2 denotes a master-end robot 2.
In the kinetic model of the system FeIs fromInteraction moment of end robot and environment, FmrThe design is to estimate the interaction force between the master robot and the operator and the interaction force between the slave robot and the environment end, so the interaction force in the dynamic equation is changed into the interaction force, namely tauj＝jj TFj，Fj＝jj -TτjWherein j is m, e respectively. The interaction force is embodied in a master-slave end dynamic model, and because the invention estimates the interaction force of the system, for the convenience of design, the dynamic model is changed into a form that the interaction force is on the left and other parameters are on the right, namely the slave end dynamic model is changed into:
the primary-side power model becomes:
the master-slave end interaction force estimator comprises the following steps:
wherein ：
respectively estimating the interaction force between the master-slave end robot 1 and the master-slave end robot 2 and the operator,
to estimate the interaction force from the end-robot with the environment,
respectively observer gain matrices.
And step 3: the interaction force estimator contains information of the acceleration of the joint at the main end and information of the acceleration of the machine body at the auxiliary end, the accurate acceleration information is very difficult to obtain in the system, if the acceleration is obtained by differentiating the joint speed or the machine body speed, the obtained acceleration has great noise to cause the acceleration information to be inaccurate, so a new function Z is respectively defined at the main end and the auxiliary end to process the acceleration information in the system,
will new function Zmr，ZeThe left and right ends of the function are derived to obtain a new function
wherein ：
and respectively bringing the models of the system into a new function Z to obtain an interaction force estimator of the main end, wherein the interaction force estimator comprises the following steps:
the interaction force estimator at the slave end is as follows:
adding a sharing factor into a master/slave end trilateral control system defines a joint expected value as follows:
vsi＝δvm1+(1-δ)vm2
two new variables are designed for the master-slave end robot:
xs＝Δvs+λΔvs＝vs-vsr＝vs-δvm1-(1-δ)vm2
wherein ,ΔqmThe position error of the master end robot is shown, the delta v is the speed error of the slave end robot body, and the lambda is a diagonal positive definite matrix. From the above formula one can obtain:
by substituting the above equation into the kinetic equation, the open-loop kinetic model for the master-slave end robot becomes:
the control law is as follows:
wherein ,km,ks,C2,C3For a diagonal positive constant matrix, δ is the authority factor, Ym1，Ym2，YsIs a regression matrix of the kinetic model,
is an estimation value of an unknown parameter vector of the dynamic model. The first term in the control law is a feedback control law and comprises position tracking and speed tracking errors of a main robot, speed tracking errors of a robot body of the main robot, the second term is compensation of dynamics parameter uncertainty terms, the third term is force tracking between the main end robot and a slave end robot, and the fourth term is used for counteracting acting force between the main end robot and an operator or between an environment and the slave end robot.
Claims (2)
1. A three-side teleoperation system and method of a foot-type mobile robot fused with an interactive force estimation algorithm are characterized in that the three-side teleoperation control system of the foot-type robot comprises: the system comprises two master end robots, a slave end robot, an authority factor dynamic regulator, an interactive force estimation controller and a force estimation sharing controller.
The master/slave end robot comprises: the master end is provided with two tactile force feedback devices for realizing the control of an operator on the slave end robot, and the slave end is provided with a hexapod robot.
The dynamic authority factor adjuster comprises: and signal transmission between the double main terminals and the distribution of the authority controlled by the slave terminal are realized through the authority factor, and the feedback signal of the slave terminal is decomposed according to the value of the authority factor.
The interaction force estimator controller comprises: the method is based on a nonlinear disturbance observer to estimate the interaction force of the master-slave end robot and improve the problem of acceleration existing in the interaction force.
The force estimation sharing controller includes: and combining the authority factor dynamic regulator and the interactive force estimator to design a force estimation shared controller and a system control law.
The control system flow comprises the following steps: the two master-end robots send control information to the slave-end robots, the authority factor dynamics device carries out authority distribution processing on the received control information, the processed data are transmitted to the interaction force estimation controller, the interaction force estimation controller carries out real-time estimation on the interaction force between the master end and an operator and between the slave end and an environment end, and the master-slave end interaction force obtained through estimation of the interaction force estimator is transmitted to the final controller, so that stable control of the two master-end robots on one slave-end hexapod robot is achieved.
2. A three-side teleoperation system and method of a foot type mobile robot fused with an interactive force estimation algorithm are characterized in that the three-side teleoperation method of the foot type robot comprises the following steps:
step 1: the system adopts a trilateral teleoperation system structure with double main terminals and single slave terminals, and an authority factor delta is added into the trilateral structure, so that the purposes of realizing signal transmission between the double main terminals and distributing the authority controlled by the slave terminals are realized through the authority factor, and the feedback signal of the slave terminal is decomposed according to the value obtained by the authority factor.
The value range of the authority factor delta is 0-1. In order to ensure that the conversion of the authority factors from 0-1 is smoother, a sin function is used as a transitional state, the selection of the authority factors is determined by the speed tracking errors of two main end robots, and the selection of the authority factors is expressed as follows:
wherein, when the ratio of the tracking error between the master robot 1 and the slave robot to the tracking error between the master robot 2 and the slave robot is less than a predetermined value ve1When the slave robot is controlled by the master robot 1, the ratio of the error tracking of the two is ve1 and ve2The two main-end robots cooperatively control the process, and when the error tracking of the two main-end robots is more than ve2Controlled by the master robot 2.
Step 2: the joint angle displacement q in the slave-end robot dynamic equation of the system is modified into the speed v of the slave-end robot body, and an estimator of the interaction force of the master-slave-end robot is designed on the basis of the dynamic equation and a nonlinear disturbance observer.
Performing dynamic modeling on the system master-slave end robot, adjusting a slave end robot dynamic model by considering system reasons, modifying joint angle displacement into the speed of a slave end robot body, wherein the modified slave end robot dynamic model is as follows:
a master-slave end interaction force controller based on an interference observer is added into a system control structure to estimate the interaction force between a master end robot and an operator, and between a slave end robot and an environment end. The interaction force of the master/slave end robot is estimated as:
wherein 
Respectively estimation of the interaction force between the master end robot 2 and the environment of the master-slave end robot 1,
respectively observer gain matrices.
And step 3: the estimated interaction force information contains acceleration information, the measurement of the acceleration is difficult, and if the acceleration information is calculated through the angular displacement, a large error exists, so that a new function Z is defined to remove the measurement or calculation of the acceleration, a new estimated force of the interaction force of the master-slave end robot is obtained, and the control law of the system is redesigned through the new interaction force.
According to the interaction force information obtained by estimation, acceleration information of joints of the master-end robot and acceleration information of a body of the slave-end robot exist, a new function Z is defined for removing measurement or calculation of the acceleration, and a new estimated force of the interaction force of the master-end robot and the slave-end robot is obtained.
The interaction force estimator of the main end is as follows:
the interaction force estimator at the slave end is as follows:
wherein ,
p (v) can be obtained by its gain matrix,
the designed authority factor delta and the estimated value of the interaction force are used
The control law of the three-side teleoperation system of the hexapod robot is designed as follows:
wherein ,km,ks,C2,C3For a diagonal positive constant matrix, Ym1，Ym2，YsIs a regression matrix of the kinetic model,
is an estimation value of an unknown parameter vector of the dynamic model. The first term in the control law is a feedback control law and comprises position tracking and speed tracking errors of a main robot, speed tracking errors of a robot body of the main robot, the second term is compensation of dynamics parameter uncertainty terms, the third term is force tracking between the main end robot and a slave end robot, and the fourth term is used for counteracting acting force between the main end robot and an operator or between an environment and the slave end robot.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018161707A (en) * | 2017-03-24 | 2018-10-18 | 株式会社 ゼンショーホールディングス | Robot control system and robot control device |
| CN109240086A (en) * | 2018-10-16 | 2019-01-18 | 浙江大学 | A kind of adaptive robust control method of non-linear bilateral teleoperation system |
| CN111515958A (en) * | 2020-05-14 | 2020-08-11 | 重庆邮电大学 | Network delay estimation and compensation method of robot remote control system |
| CN112068433A (en) * | 2020-09-09 | 2020-12-11 | 哈尔滨理工大学 | Open-air six-legged robot control training method based on double operators |
| CN113001547A (en) * | 2021-03-10 | 2021-06-22 | 西北工业大学 | Robot teleoperation control method based on mixed reality |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018161707A (en) * | 2017-03-24 | 2018-10-18 | 株式会社 ゼンショーホールディングス | Robot control system and robot control device |
| CN109240086A (en) * | 2018-10-16 | 2019-01-18 | 浙江大学 | A kind of adaptive robust control method of non-linear bilateral teleoperation system |
| CN111515958A (en) * | 2020-05-14 | 2020-08-11 | 重庆邮电大学 | Network delay estimation and compensation method of robot remote control system |
| CN112068433A (en) * | 2020-09-09 | 2020-12-11 | 哈尔滨理工大学 | Open-air six-legged robot control training method based on double operators |
| CN113001547A (en) * | 2021-03-10 | 2021-06-22 | 西北工业大学 | Robot teleoperation control method based on mixed reality |
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