CN114161453B - Robot control method, device and system based on double handles and electronic equipment - Google Patents
Robot control method, device and system based on double handles and electronic equipment Download PDFInfo
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- 230000003993 interaction Effects 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000008713 feedback mechanism Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
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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
- B25J13/02—Hand grip control means
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Abstract
The application provides a robot control method, a device, a system and electronic equipment based on a double handle, wherein the robot control method based on the double handle comprises the following steps: collecting first control information of a first handle and second control information of a second handle; wherein the first handle is a force feedback handle, and the second handle is a force-weak feedback handle; and generating fusion control information for the robot according to the first manipulation information and the second manipulation information. Therefore, the fusion control information provided by the application not only has the comprehensiveness and sensitivity of the second manipulation information special for the weak feedback function, but also has the accuracy of the first manipulation information special for the force feedback function, so that the comprehensiveness, sensitivity and accuracy of the robot control can be improved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot control method, device and system based on double handles and electronic equipment.
Background
In the prior art, a teleoperation handle of a robot is generally powerless to feed back, and interaction force between the robot and an external environment cannot be mapped to one end of the teleoperation handle, so that an operator cannot have force on-site sense, the accuracy of robot control is low, and danger is easy to occur.
Disclosure of Invention
The embodiment of the application aims to provide a robot control method, device and system based on a double handle and electronic equipment, which are used for improving the accuracy of robot control.
In a first aspect, the present application provides a robot control method based on a double handle, comprising: collecting first control information of a first handle and second control information of a second handle; wherein the first handle is a force feedback handle, and the second handle is a force-weak feedback handle; and generating fusion control information for the robot according to the first manipulation information and the second manipulation information.
In one embodiment, the method for controlling a robot based on a dual handle further comprises: based on the fusion control information, the robot is controlled.
In one embodiment, the first steering information includes speed information of the first handle; the second manipulation information includes speed information of the second handle.
In an embodiment, generating fusion control information for a robot according to first manipulation information and second manipulation information includes: the following formula is adopted for calculation:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
Wherein, vel rob_cmd is the fusion control information, vel hand_1 is the speed information of the first handle, vel hand_2 is the speed information of the second handle, k1 is the first preset value, and k2 is the second preset value.
In one embodiment, the method for controlling a robot based on a dual handle further comprises: receiving an interaction force signal acquired by a force sensor of the robot; according to the interaction force signal, calculating to obtain force feedback information; and controlling the first handle to perform force feedback according to the force feedback information.
In a second aspect, the present application provides a robot control device based on a double handle, comprising: the system comprises an acquisition module and a generation module, wherein the acquisition module is used for acquiring first control information of a first handle and second control information of a second handle; wherein the first handle is a force feedback handle, and the second handle is a force-weak feedback handle; the generation module is used for generating fusion control information for the robot according to the first manipulation information and the second manipulation information.
In one embodiment, the dual-handle based robotic control device further comprises: and the control module is used for controlling the robot based on the fusion control information.
In one embodiment, the first steering information includes speed information of the first handle; the second manipulation information includes speed information of the second handle. The generating module is also used for calculating by adopting the following formula:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
Wherein, vel rob_cmd is the fusion control information, vel hand_1 is the speed information of the first handle, vel hand_2 is the speed information of the second handle, k1 is the first preset value, and k2 is the second preset value.
In one embodiment, the dual-handle based robotic control device further comprises: the device comprises a receiving module, a calculating module and a force feedback module, wherein the receiving module is used for receiving an interaction force signal acquired by a force sensor of the robot; the calculation module is used for calculating force feedback information according to the interaction force signals; the force feedback module is used for controlling the first handle to perform force feedback according to the force feedback information.
In a third aspect, the present application provides an electronic device comprising: memory and a processor. The memory is used for storing a computer program; the processor is configured to execute a computer program to implement a method according to any of the preceding embodiments.
In a fourth aspect, the present application provides a non-transitory computer readable storage medium comprising: a program which, when run by an electronic device, causes the electronic device to perform the method of any of the preceding embodiments.
In a fifth aspect, the present application provides a dual-handle based robotic control system comprising: robot, first handle, second handle and main control computer, main control computer connect first handle, second handle and robot. The robot is provided with a force sensor; the first handle has a first grip, a first detector for detecting movement of the first grip, and a force feedback mechanism; the force feedback mechanism is connected with the first gripper; the second handle is provided with a second grip, a second detector and a reset mechanism, wherein the second detector is used for detecting the movement of the second grip, and the reset mechanism is connected with the second grip.
According to the robot control method, the device, the system and the electronic equipment based on the double handles, the first manipulation information of the first handle and the second manipulation information of the second handle are fused to form new fusion control information, so that the fusion control information not only has comprehensiveness and sensitivity of the second manipulation information which are special for the weak feedback function of the second manipulation information, but also has accuracy of the first manipulation information which are special for the force feedback function of the first manipulation information, and the fusion control information has higher comprehensiveness, sensitivity and accuracy. When the fusion control information is used for actually controlling the robot, the comprehensiveness, sensitivity and accuracy of controlling the robot can be improved, and dangers are avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a robot control system based on a dual handle according to an embodiment of the present application.
Fig. 3 is a flow chart of a robot control method based on a dual handle according to an embodiment of the application.
Fig. 4 is a detailed flowchart of step S110 in the corresponding embodiment of fig. 3 according to an embodiment of the present application.
Fig. 5 is a schematic diagram showing steps of a robot control method based on a dual handle according to an embodiment of the present application.
Fig. 6 is a schematic structural view of a robot control device based on a dual handle according to an embodiment of the present application.
Icon: 100-an electronic device; 101-a bus; 102-memory; 103-a processor; 200-a two-handle based robotic control device; 210-an acquisition module; 220-a generation module; 230-a control module; 300-a two-handle based robotic control system; 310-robot; 311-force sensor; 320-a first handle; 321-a first grip; 322-a first detector; 323-force feedback mechanism; 330-a second handle; 331-a second grip; 332-a second detector; 333-reset mechanism; 340-a main control machine; 341-a speed fusion mapper; 342-force feedback mapper.
Detailed Description
The terms "first," "second," "third," and the like are used merely for distinguishing between descriptions and not for indicating a sequence number, nor are they to be construed as indicating or implying relative importance. Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "inner", "outer", "left", "right", "upper", "lower", etc., are based on directions or positional relationships shown in the drawings, or directions or positional relationships conventionally put in use of the product of the application, are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present application.
In the description of the present application, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements.
The technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an electronic device 100 according to an embodiment of the application. The electronic device 100 includes: at least one processor 103 and a memory 102, one processor 103 being exemplified in fig. 1. The processor 103 and the memory 102 are connected through the bus 101, and the memory 102 stores instructions executable by the processor 103, so that the electronic device 100 can execute all or part of the flow of the method in the following embodiments, to improve the accuracy of the robot control.
In one embodiment, the Processor 103 may be a general purpose Processor 103 including, but not limited to, a central processing unit 103 (Central Processing Unit, CPU), a network Processor 103 (Network Processor, NP), etc., and may also be a digital signal Processor 103 (DIGITAL SIGNAL Processor, DSP), application Specific Integrated Circuit (ASIC), off-the-shelf programmable gate array (Field Programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The general purpose processor 103 may be a microprocessor 103 or the processor 103 may be any conventional processor 103 or the like, the processor 103 being a control center of the electronic device 100, the various interfaces and lines being utilized to connect various portions of the overall electronic device 100. The processor 103 may implement or perform the methods, steps and logic blocks disclosed in the embodiments of the present application.
In one embodiment, memory 102 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, including, but not limited to, random access Memory 102 (Random Access Memory, RAM), read Only Memory 102 (ROM), static random access Memory 102 (Static Random Access Memory, SRAM for short), programmable Read Only Memory 102 (Programmable Read-Only Memory, PROM), erasable Read Only Memory 102 (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory 102 (Electric Erasable Programmable Read-Only Memory, EEPROM).
The electronic device 100 may be a mobile phone, a notebook computer, a desktop computer, or an operation system composed of a plurality of computers. The electronic device 100 may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. For example, the electronic device 100 also includes input-output devices for human-machine interaction.
Referring to fig. 2, a schematic diagram of a dual-handle-based robot control system 300 according to an embodiment of the application is shown. The two-handle based robot control system 300 may be a system for controlling the robot 310, and the two-handle based robot control system 300 may include the robot 310, the first handle 320, the second handle 330, and the main control unit 340, and the robot 310 may include various mobile machines such as a manipulator. The main control unit 340 is electrically connected to the first handle 320, the second handle 330 and the robot 310.
In an operation process, the main control unit 340 receives and processes the operation signals of the first and second handles 320 and 330, and then transmits the processed operation signals of the first and second handles 320 and 330 to the robot 310 to control the robot 310 to perform various motions. The main control unit 340 may be an electrical cabinet built in the robot 310 or externally provided to the robot 310, and includes a power supply, a processor 103, a memory 102, a transceiver, a central controller, and the like. The central controller may be a microcontroller (Microcontroller Unit, abbreviated as MCU).
The robot 310 is provided with a force sensor 311, and the force sensor 311 can be a pressure sensor 311 or a tension sensor 311, and is used for detecting a contact force vector of the robot 310 and feeding back a contact force between the robot 310 and the outside. For example, when the robot 310 is a mechanical arm, the force sensor 311 may be disposed on a clamping portion of the mechanical arm, and the force sensor 311 may be used to feedback a contact force between the clamping portion of the mechanical arm and the clamped object, so that an operator can sense an interaction force between the robot 310 and an external environment, and has a force feeling.
The first handle 320 is a force feedback handle, and the first handle 320 has a first grip 321, a first detector 322, and a force feedback mechanism 323, the first grip 321 being configured to be rotatable about a specified axis and/or linearly movable in a specified direction. The first detector 322 may include a photoelectric displacement sensor and/or an angle sensor, etc., for detecting movement information such as a rotation angle, a moving distance, etc., of the first grip 321. A force feedback mechanism 323 is connected to the first grip 321, and the force feedback mechanism 323 may include a screw, a motor, or other pressing member for performing force feedback.
The second handle 330 is a force-free feedback handle, and the second handle 330 has a second grip 331, a second detector 332, and a return mechanism 333, the second grip 331 being provided to be rotatable about a specified axis and/or to be linearly movable in a specified direction. The second detector 332 may include a photoelectric displacement sensor and/or an angle sensor, etc., for detecting movement information of the second grip 331 such as a rotation angle, a moving distance, etc. The return mechanism 333 is connected to the second grip 331, and the return mechanism 333 may include an elastic member such as a spring for returning the second handle 330.
In an operation process, the main control unit 340 receives the contact force signal of the robot 310 detected by the force sensor 311 and the outside in real time, then the main control unit 340 converts the contact force signal into the force to be fed back by the first handle 320 and sends the force to the force feedback mechanism 323, and then the main control unit 340 controls the force feedback mechanism 323 to output the corresponding feedback force, so that an operator can sense the interaction force between the robot 310 and the outside environment and has the force feeling.
Similarly, the main control unit 340 receives the motion information of the first hand 321 detected by the first detector 322 and the motion information of the second hand 331 detected by the second detector 332 in real time, and then the main control unit 340 converts the motion information of the first hand 321 and the motion information of the second hand 331 into motion information to be executed by the robot 310.
By the operation, the action information not only has the comprehensiveness and sensitivity of the second control information which are special for the weak feedback function of the action information, but also has the accuracy of the first control information which are special for the force feedback function of the action information, so that the comprehensiveness, sensitivity and accuracy of the robot control can be improved, and dangers are avoided.
In addition, the operator can possess the sense of presence of force when operating first handle 320, and the operation is more accurate, can utilize the reset principle of canceling release mechanical system 333 when operating second handle 330, and operate more sensitively, simply laborsaving, and can make second handle 330 have the gear, when second handle 330 keeps in certain fixed position, second handle 330 can continue output control information, makes robot 310 carry out uniform motion, and the operability is good.
It should be noted that, the operator may operate the first handle 320 and the second handle 330 simultaneously, may operate the first handle 320 and the second handle 330 sequentially, or may alternatively operate the first handle 320 or the second handle 330. The first handle 320 and the second handle 330 may be remote handles provided outside the robot 310, or handles directly provided on the robot 310. In this embodiment, the first handle 320 and the second handle 330 are remote handles.
Fig. 3 is a flow chart of a robot control method based on a dual handle according to an embodiment of the application. The method can be performed by the electronic device 100 shown in fig. 1 as the main control unit 340 shown in fig. 2 to improve the comprehensiveness, sensitivity and accuracy of robot control. The method comprises the following steps: step S110-step S130.
Step S110: first manipulation information of the first handle 320 and second manipulation information of the second handle 330 are collected. Wherein the first handle 320 is a force feedback handle and the second handle 330 is a force-less feedback handle.
The first manipulation information in this step may be detected by the first detector 322 and then transmitted to the main control unit 340. The first manipulation information includes one or more of speed information, angle information, and position information of the first handle 320.
The second manipulation information in this step may be detected by the second detector 332 and then transmitted to the main control unit 340. The second manipulation information includes one or more of speed information, angle information, and position information of the second handle 330.
Step S120: fusion control information for the robot 310 is generated according to the first manipulation information and the second manipulation information.
In step S120, the first manipulation information and the second manipulation information are fused and mapped according to a first preset function to obtain new fused control information, so that the issuing instruction is executed by the robot 310 to obtain the desired speed tracking effect. The fusion control information not only has the comprehensiveness and sensitivity of the second manipulation information which are special for the weak feedback function of the second manipulation information, but also has the accuracy of the first manipulation information which are special for the force feedback function of the first manipulation information, so that the comprehensiveness, sensitivity and accuracy of the robot control are improved.
It should be noted that the first preset function may be a power function or a linear function. For example: the speed tracking mapping formula of the first preset function is as follows:
velrob_cmd＝f(velhand_1,velhand_2)；
Where vel rob_cmd is the fusion control information, representing the desired operation speed information of the robot 310, vel hand_1 is the speed information of the first handle 320, and vel hand_2 is the speed information of the second handle 330.
In a specific embodiment, the present step S120 can be calculated by the following formula:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
Wherein, vel rob_cmd is the fusion control information; vel hand_1 is the speed information of the first handle 320; vel hand_2 is the speed information of the second handle 330; k1 is a first preset value; k2 is a second preset value. k1 and k2 may be equal or different and have values of 0, 0.1, 0.2, 0.3, 0.5, 0.7, 0.8, 1,2, etc. In one embodiment, k1 and k2 may be obtained experimentally.
Step S130: based on the fusion control information, the robot 310 is controlled.
The main control unit 340 may control the operation state of the robot 310 according to the fusion control information.
It should be noted that, during the operation of the robot 310, the steps S110 to S130 may be repeated and circulated to implement real-time control of the robot 310.
In addition, the robot 310 may be a surgical robot, an industrial robot, a household robot, a search and rescue robot, a teaching robot, a service robot, or an intelligent robot, etc., and when the robot 310 is a surgical robot, the robot control method based on the double handles of the present application may be used for debugging before application of the robot 310, etc.
Fig. 4 is a detailed flowchart of step S110 in the corresponding embodiment of fig. 3 according to an embodiment of the present application. Fig. 5 is a schematic diagram showing steps of a robot control method based on a dual handle according to an embodiment of the application. In order to obtain the current inertia parameter, the method comprises the following steps before step S110: step S1101 to step S1103.
Step S1101: the interaction force signal collected by the force sensor 311 of the robot 310 is received.
The interaction force signal in this step is used to feedback the contact force between the clamping portion of the mechanical arm and the clamped object, so as to prepare the first handle 320 for force feedback.
Step S1102: and calculating to obtain force feedback information according to the interaction force signal.
In step S1102, the main control unit 340 converts the interaction force signal obtained in step S1101 according to a second preset function to obtain the force to be fed back by the first handle 320, i.e. force feedback information.
It should be noted that the second preset function may be a power function or a linear function. For example: the expression of the second preset function is as follows:
Fop＝f(Frob_ext)；
Wherein F rob_ext is the interaction force signal received in step S1101, and represents the contact force vector perceived by the robot 310; f op is force feedback information indicating the force to be fed back by the first handle 320.
In a specific embodiment, the step S1102 can be calculated by the following formula:
Fop＝k3Frob-ext；
Wherein F rob_ext is an interactive force signal; f op is force feedback information; k3 is a third preset value. k3 may be a number of 0.1, 0.2, 0.3, 0.5, 0.7, 0.8, 1,2, etc. In one embodiment, k3 may be obtained experimentally.
In a specific embodiment, the step S1102 can be calculated by the following formula:
Fop＝(Frob-ext)X；
Wherein F rob_ext is an interactive force signal; f op is force feedback information; x is a fourth preset value. X may be a number of 0.1, 0.2, 0.3, 0.5, 0.7, 0.8, 1,2, etc. In one embodiment, X may be obtained experimentally.
Step S1103: according to the force feedback information, the first handle 320 is controlled to perform force feedback.
The main control unit 340 may control the first handle 320 to perform force feedback by controlling the force feedback mechanism 323.
The steps S1101 to S1103 are repeatedly performed to realize real-time feedback of the contact force of the robot 310 with the outside of the first handle 320.
As shown in fig. 5, the host machine 340 includes a speed fusion mapper 341 and a force feedback mapper 342. The force feedback mapper 342 is configured to perform steps S1101-S1102, receive the interaction force signal F rob_ext, and convert the interaction force signal into force feedback information F op. The speed fusion mapper 341 is configured to perform the steps S110-S120, receive the speed information vel hand_1 of the first handle 320 and the speed information vel hand_2 of the second handle 330, and convert them into the fusion control information vel rob_cmd.
The speed fusion mapper 341 and the force feedback mapper 342 may be integrally or separately arranged.
Referring to fig. 6, a schematic structural diagram of a robot control device 200 based on a dual handle according to an embodiment of the application is shown. The device can be applied to the electronic device 100 shown in fig. 1, and can be used as the main control unit 340 shown in fig. 2. The robot control device 200 based on the two handles includes: the device comprises an acquisition module 210, a generation module 220 and a control module 230.
The principle relation of each module is as follows: the acquisition module 210 is configured to acquire first manipulation information of the first handle 320 and second manipulation information of the second handle 330; wherein the first handle 320 is a force feedback handle and the second handle 330 is a force-less feedback handle. The generating module 220 is configured to generate fusion control information for the robot 310 according to the first manipulation information and the second manipulation information. The control module 230 is configured to control the robot 310 based on the fusion control information.
In one embodiment, the first manipulation information includes speed information of the first handle 320; the second manipulation information includes speed information of the second handle 330. The generating module 220 is further configured to calculate using the following formula:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
where vel rob_cmd is the fusion control information, vel hand_1 is the speed information of the first handle 320, vel hand_2 is the speed information of the second handle 330, k1 is the first preset value, and k2 is the second preset value.
In one embodiment, the dual-handle based robotic control device 200 further includes: the device comprises a receiving module, a calculating module and a force feedback module, wherein the receiving module is used for receiving interaction force signals acquired by a force sensor 311 of a robot 310; the calculation module is used for calculating force feedback information according to the interaction force signals; the force feedback module is configured to control the first handle 320 to perform force feedback according to the force feedback information.
For a detailed description of the above-described two-handle based robotic control device 200, please refer to the description of the relevant method steps in the above-described embodiments.
The embodiment of the application also provides a non-transitory computer readable storage medium, comprising: a program which, when run on the electronic device 100, causes the electronic device 100 to perform all or part of the flow of the method in the above-described embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory 102 (Flash Memory), a hard disk (HARD DISK DRIVE, abbreviated as HDD), a Solid state disk (Solid-state disk STATE DRIVE, SSD), or the like. The storage medium may also include a combination of the types of memory 102 described above.
In the several embodiments provided in the present application, the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application. Any modification, equivalent replacement, improvement, etc. which are within the spirit and principle of the present application, should be included in the protection scope of the present application, for those skilled in the art.
Claims (7)
1. A robot control method based on a double handle, wherein the robot is provided with a force sensor configured to feed back an interaction force of the robot with the outside, the robot control method comprising:
Collecting first control information of a first handle and second control information of a second handle; the first handle is a force feedback handle, and the second handle is a force-weak feedback handle;
Generating fusion control information for the robot according to the first manipulation information and the second manipulation information; the first manipulation information includes speed information of the first handle; the second manipulation information includes speed information of the second handle;
the generating fusion control information for the robot according to the first manipulation information and the second manipulation information includes:
the following formula is adopted for calculation:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
Wherein, vel rob_cmd is the fusion control information; vel hand_1 is the speed information of the first handle; vel hand_2 is the speed information of the second handle; k1 is a first preset value; k2 is a second preset value;
The robot control method based on the double handles further comprises the following steps:
Receiving an interaction force signal acquired by a force sensor of the robot;
According to the interaction force signal, calculating to obtain force feedback information;
And controlling the first handle to perform force feedback according to the force feedback information.
2. The method as recited in claim 1, further comprising:
and controlling the robot based on the fusion control information.
3. A robot control device based on a double handle, comprising:
The acquisition module is used for acquiring first control information of the first handle and second control information of the second handle; the first handle is a force feedback handle, and the second handle is a force-weak feedback handle;
The generation module is used for generating fusion control information for the robot according to the first manipulation information and the second manipulation information; the first manipulation information includes speed information of the first handle; the second manipulation information includes speed information of the second handle;
the generating module is further configured to:
the following formula is adopted for calculation:
velrob_cmd＝k1×velhand_1+k2×velhand_2；
Wherein, vel rob_cmd is the fusion control information; vel hand_1 is the speed information of the first handle; vel hand_2 is the speed information of the second handle; k1 is a first preset value; k2 is a second preset value;
The robot control device based on the double handles further comprises:
The receiving module is used for receiving the interaction force signals acquired by the force sensor of the robot;
The calculation module is used for calculating force feedback information according to the interaction force signal;
And the force feedback module is used for controlling the first handle to perform force feedback according to the force feedback information.
4. A device according to claim 3, characterized in that the device further comprises:
And the control module is used for controlling the robot based on the fusion control information.
5. An electronic device, comprising:
a memory for storing a computer program;
A processor configured to perform the method of any one of claims 1 to 2.
6. A non-transitory computer-readable storage medium, comprising: program which, when run by an electronic device, causes the electronic device to perform the method of any one of claims 1 to 2.
7. A two-handle based robotic control system for performing the method of claim 1 or 2, the two-handle based robotic control system comprising:
a robot provided with a force sensor;
A first handle having a first grip, a first detector for detecting movement of the first grip, and a force feedback mechanism; the force feedback mechanism is connected with the first gripper;
The second handle is provided with a second grip, a second detector and a reset mechanism, wherein the second detector is used for detecting the movement of the second grip, and the reset mechanism is connected with the second grip; and
And the main control machine is connected with the first handle, the second handle and the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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