CN114770458A - Redundant freedom degree teleoperation robot master-slave bidirectional control method and system - Google Patents

Redundant freedom degree teleoperation robot master-slave bidirectional control method and system Download PDF

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CN114770458A
CN114770458A CN202210471133.1A CN202210471133A CN114770458A CN 114770458 A CN114770458 A CN 114770458A CN 202210471133 A CN202210471133 A CN 202210471133A CN 114770458 A CN114770458 A CN 114770458A
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manipulator
main
feedback gain
feedback
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CN114770458B (en
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巩明德
刘文彬
陈圣光
梁凯凯
贾东飞
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Yanshan University
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • B25J9/1643—Programme controls characterised by the control loop redundant control

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
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Abstract

The invention provides a master-slave bidirectional control method and a system for a redundant degree of freedom teleoperation robot, wherein the control method comprises the following steps: the operator operates the main manipulator, the main force detected by the three-dimensional force sensor passes through the A/D converter and the amplifying circuit and then controls the motion of the slave manipulator through the slave controller, the displacement of the main manipulator is calculated by inverse kinematics and then is differed with the displacement of the slave manipulator to form a potential difference signal to be normalized, and then the normalized signal is subjected to T-S fuzzy reasoning process to obtain a feedback gain KefAnd thus a feedback force. By using the control method and the control system of the invention, when the master potential difference signal and the slave potential difference signal are larger, the T-S feedback gain KefThe feedback force of the main-end manipulator is reduced, and the impact force is reduced; T-S feedback gain K when master and slave difference signals are smallefThe feedback force of the main-end manipulator is increased, and the feedback sensitivity is improved; T-S feedback gain KefIs continuously changed in a segmented manner, and the device is characterized in that,the feedback force does not change suddenly, the feedback sensitivity can be improved, and the telepresence of an operator is enhanced.

Description

Redundant freedom degree teleoperation robot master-slave bidirectional control method and system
Technical Field
The invention relates to the technical field of teleoperation robots, in particular to a master-slave bidirectional control method and system for a redundant degree-of-freedom teleoperation robot.
Background
With the application of robots in various fields of nuclear reactors, deep sea exploration, space development, remote/micro manipulation, telemedicine and human life, a great deal of advanced robots working in environments where people are difficult to access or harmful to the human body are urgently needed, and remote-controlled robots are produced.
Two-way servo control is the mutual feedback control to information between master hand and the slave hand, and current control system adopts the master hand to move earlier mostly, follows the master hand displacement from the hand and moves, and the power feedback that receives from the hand is to the master hand, but can produce great feedback power suddenly when the contact rigidity object from the hand, causes the impact and vibrates the master hand, and the operation is felt badly.
The 'two-degree-of-freedom position feedback type bidirectional servo hand controller control system' disclosed in chinese patent CN200820072288.3, which uses potential difference to generate feedback force, reduces impact and oscillation to the main hand, but the control strategy uses fixed gain for the feedback force, when the feedback force is large, the operation of the main hand is laborious, when the feedback force is small, the operator can not feel the feedback force, and the presence and the operation precision are reduced.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a redundant degree of freedom teleoperation robot master-slave bidirectional control method and system, which can improve the feedback sensitivity and enhance the telepresence.
Specifically, in one aspect, the present invention provides a master-slave bidirectional control method for a redundant degree of freedom teleoperation robot, comprising the following steps:
s1, measuring the main hand force F on the main manipulator by the main three-dimensional force sensormDominant hand force FmThe digital signals are converted into digital signals by an A/D converter and then pass through an amplifying circuit KmAmplified and input to a force adjuster, which processes the digital signal and then inputs the processed digital signal to a slaveThe digital signal is converted into a current signal through a D/A converter and then is input to a servo motor of the slave manipulator so as to drive the slave manipulator to move;
s2, measuring the angle value of the joint rotation angle of the slave manipulator by the absolute value encoder of the slave manipulator, converting the angle value by an A/D converter to obtain the displacement q of the joint of the slave manipulatorsThe rotation angle of the main end control handle measured by the absolute value encoder of the main end manipulator passes through an A/D converter conversion and amplification circuit KmAmplifying, and calculating by inverse kinematics to obtain the displacement q of the joint of the main end manipulatormThe displacement q of the main end manipulator jointmAnd the joint displacement q of the slave manipulatorsDifferencing to obtain a potential difference signal eqThe said potential difference signal eqThe potential difference signal e is output to a D/A converter by a slave controller to control the servo motor of the slave manipulator to work so as to drive the slave manipulator to moveqObtaining a normalized bit difference e 'through normalization treatment'qThen inputting the signal into T-S feedback gain;
s3, normalized bit difference e'qObtaining a feedback gain K through the T-S feedback gainefThe numerical value of (1), is normalized bit difference e'qAnd a feedback gain KefThe product of the two-dimensional motion vector is input into a main end controller as an input value and output, and an output signal of the main end controller is input into a servo motor of a main end manipulator through a D/A converter so as to drive the main end manipulator to move;
wherein the bit difference signal eqNormalized to obtain normalized bit difference e'qNormalized bit difference e'qThe calculation formula of (a) is as follows:
Figure BDA0003622440380000021
in the formula: e'qIs a normalized bit difference value; e.g. of a cylinderqminIs the minimum bit difference value; e.g. of a cylinderqmaxIs the maximum bit difference value;
the normalized bit difference e'qThree overlapping fuzzy subsets are defined in the universe of discourse: s, M, B, respectively;
the T-S feedback gain adopts T-S fuzzy mapping, and the fuzzy mapping rule of the T-S feedback gain is as follows:
phi if (normalized bit difference is S) then (feedback gain K)ef is 1.5)；
Phi (normalized difference is M) then (feedback gain K)ef is 1.0)；
-if (normalized difference is B) then (feedback gain K)ef is 0.5)。
Preferably, the fuzzy subsets S and B adopt gaussian membership functions, and the setting parameters are [ 0.0750 ] and [ 0.0751 ], and the fuzzy subset M adopts trapezoidal membership functions, and the setting parameter is [ 0.060.160.840.94 ].
Preferably, the T-S feedback gain fuzzy mapping adopts an algebraic product-weighted average discrimination method to obtain a T-S type fuzzy feedback gain KefThe non-linear curve of (a) is,
wherein, KefThe value of (Z) is calculated as follows:
Figure BDA0003622440380000031
in the formula: omega1Is a first membership function value; omega2Is a second membership function value; omega3Is a third membership function value; z is a radical of1Feedback gain K corresponding to the first membership function valueefA value; z is a radical of2Feedback gain K corresponding to the second membership function valueefA value; z is a radical of formula3Feedback gain K corresponding to function value of third membership degreeefA value; z is the feedback gain K of the final outputefThe value of (c).
In particular, another aspect of the present invention also provides a redundant degree of freedom teleoperation robot master-slave bidirectional control system, which comprises a main end manipulator, a computer control unit and a slave end manipulator, wherein the main end manipulator has two mutually vertical rotational degrees of freedom, the main-end manipulator comprises a control handle, a three-dimensional force sensor, a servo motor and an absolute value encoder, the three-dimensional force sensor, the servo motor and the absolute value encoder are all arranged on a rotary joint of the master end manipulator for operating the slave end manipulator, the rotary joint has four rotational degrees of freedom, a servo motor and an absolute value encoder are fixedly installed at a rotary joint of the slave manipulator, and the computer control unit comprises a master controller, a calculation module, a T-S feedback gain unit, a force adjuster and a slave controller which are mutually communicated and connected;
the output end of the three-dimensional force sensor is connected with the input end of the force adjuster by means of an A/D converter, the output end of an absolute value encoder of the main-end manipulator is connected with the input end of the computing module by means of an A/D converter, the output end of the computing module is respectively connected with the T-S feedback gain unit and the input end of the force adjuster, the output end of the force adjuster is connected with the input end of the slave-end controller, the output end of the slave-end controller is connected with the input end of a servo motor of the slave-end manipulator by means of a D/A converter, the output end of the T-S feedback gain unit is connected with the input end of the main-end controller, and the output end of the main-end controller is connected with the input end of the servo motor of the main-end manipulator by means of a D/A converter.
The three-dimensional force sensor, the servo motor and the absolute value encoder of the main-end manipulator are mounted by means of a mounting frame.
Preferably, the calculation module is for calculating a normalized bit difference e'q。
Compared with the prior art, the invention has the following advantages:
(1) when the potential difference between the master manipulator and the slave manipulator is large, the feedback force is large, and the feedback gain K output through T-S fuzzy inferenceefSmall value of (1), feedback force and KefThe product of (2) is reduced, so that the feedback force of the main-end manipulator is reduced, the range of the feedback force which can be tolerated by hands is ensured, and the impact force influence is reduced.
(2) When the potential difference between the master manipulator and the slave manipulator is small, the feedback force is small, and the feedback gain K output through the T-S fuzzy inferenceefLarge value of (1), feedback force and KefIncrease the product of (2), further increase the feedback force of the main end manipulator, and improveHigh feedback sensitivity and enhanced presence.
(3) When the feedback force of the invention is changed in the middle range, the feedback gain KefThe value of the force sensor is kept unchanged, so that an operator can accurately sense the stress change condition of the slave manipulator, and more real force telepresence is obtained.
(4) The feedback gain K generated by the T-S fuzzy inference method in the inventionefThe feedback force is not changed suddenly, and the telepresence of an operator is enhanced.
(5) The invention adopts the main hand force FmThe control of the slave manipulator for the control signal effectively reduces the vibration when the slave manipulator contacts a rigid object; and the position of the slave hand is corrected by adopting a master-slave hand position difference signal, so that the position control precision of the slave manipulator is improved.
Drawings
FIG. 1 is a schematic diagram of a master-slave bidirectional servo system according to the present invention;
FIG. 2 shows the patent input variable e according to the present inventionqFuzzifying the image;
FIG. 3 is a fuzzy mapping rule chart of the present invention patent;
FIG. 4 shows the variable gain feedback coefficient K of the present inventionefGraph is shown.
In the figure: 1-main end manipulator, 101-operating handle, 102-three-dimensional force sensor, 103-servo motor, 104-absolute value encoder, 2-computer control unit, 201-main end controller, 202-T-S feedback gain, 203-force adjuster, 204-slave end controller, 3-slave end manipulator, 301-servo motor, 302-absolute value encoder, 4-A/D converter, 5-amplifying circuit Km16-D/A converter, 7-A/D converter, 8-A/D converter, 9-amplifying circuit Km210-D/A converter.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in fig. 1 to 4, in one aspect, the present invention provides a redundant degree of freedom teleoperation robot master-slave bidirectional control system, which comprises a master manipulator 1, a computer control unit 2 and a slave manipulator 3,the master manipulator 1 has two rotational degrees of freedom in mutually perpendicular directions, and includes a manipulation handle 101, a three-dimensional force sensor 102, a servo motor 103, and an absolute value encoder 104, the slave manipulator 3 has four rotational degrees of freedom, and a servo motor 301 and an absolute value encoder 302 are fixedly mounted at a rotary joint, and the computer control unit 2 includes a master controller 201, a T-S feedback gain 202, a force adjuster 203, a slave controller 204, and a calculation module (not shown in the figure) for calculating a normalized difference e'q)。
The output end of the three-dimensional force sensor 102 is connected with the input end of a force adjuster 203 through an A/D converter 4, the output end of an absolute value encoder 104 of the master manipulator 1 is connected with the input end of a calculation module through an A/D converter, the output end of the calculation module is respectively connected with the input ends of a T-S feedback gain unit 202 and the force adjuster 203, the output end of the force adjuster 203 is connected with the input end of a slave controller 204, the output end of the slave controller 204 is connected with the input end of a servo motor 301 of the slave manipulator through a D/A converter 6, the output end of the T-S feedback gain unit 202 is connected with the input end of a master controller 201, and the output end of the master controller 201 is connected with the input end of a servo motor 103 of the master manipulator through a D/A converter 10. The three-dimensional force sensor 102, the servo motor 103, and the absolute value encoder 104 of the main-end robot are mounted by means of a mounting frame.
Another aspect of the present invention provides a master-slave bidirectional control method of a redundant degree of freedom teleoperation robot, the control method including the steps of:
s1, the main end three-dimensional force sensor 102 measures the main hand force F applied to the main end manipulator 1mThe magnitude and direction of (2), the detected primary hand force FmConverted into digital signals by an A/D converter 4 and an amplifying circuit K m15 is amplified and inputted to the force adjuster 203, the signal is processed by the force adjuster 203, inputted to the slave end controller 204, converted into a current signal by the D/a converter 6 and inputted to the servo motor 301, and the servo motor 301 operates to drive the slave end robot 2 to move.
S2, the rotation angle of the slave manipulator joint measured by the slave absolute value encoder 302 is converted by the A/D converter 7Obtaining the slave end joint displacement qsThe rotation angle of the main-end joystick 101 measured by the main-end absolute value encoder 104 is converted and amplified by the A/D converter 8 through the amplifying circuit K m29 amplifying, and obtaining the displacement q of the joint at the main end through inverse kinematics calculationmMajor end joint displacement qmAnd slave end joint displacement qsDifferencing to obtain a potential difference signal eqPotential difference signal eqAfter the signal is outputted from the end controller 204 to the D/A converter 6, the servo motor 301 is controlled to work to drive the slave manipulator 2 to move, and the potential difference signal eqObtaining a normalized bit difference e 'after normalization treatment'qNormalized bit difference e'qInput to the T-S feedback gain 202.
S3, normalized bit difference e'qAfter the inference decision of the fuzzy controller, the feedback gain K is outputefOf normalized bit difference e'qAnd a feedback gain KefAfter multiplying, the multiplied signals are input into the main end controller 201, the output signals of the main end controller 201 are converted by the D/A converter 10 and then input into the servo motor 103, and the servo motor 103 works to drive the main end manipulator 1 to move.
As a preferred technical scheme of the invention patent: the T-S feedback gain 202 adopts Takagi-Sugeno fuzzy mapping reasoning, and the displacement q of the main end jointmAnd slave end joint displacement qsDifferencing to obtain a potential difference signal eqNormalized by the following formula to obtain a normalized bit difference e'qNormalized bit difference e'qThree overlapping fuzzy subsets are defined in the universe of speaking: s, M, B, adopting Gaussian membership function for fuzzy subsets S and B, setting parameters as [ 0.0750 ] respectively]And [ 0.0751]The fuzzy subset M adopts a trapezoidal membership function, and the set parameter is [ 0.060.160.840.94 ]]To obtain a bit difference signal e as shown in FIG. 2qAnd (5) blurring the image.
Figure BDA0003622440380000071
In the formula: e'qIs a normalized bit difference value; e.g. of the typeqminIs the minimum bit difference value; e.g. of a cylinderqmaxIs the maximum bit difference value.
As a preferred technical scheme of the invention patent: the fuzzy mapping rule for the T-S feedback gain 202 is:
phi (normalized bit difference is S) then (feedback gain K)ef is 1.5)；
If (normalized difference is M) then (feedback gain K)ef is 1.0)；
-if (normalized difference is B) then (feedback gain K)ef is 0.5)；
The fuzzy mapping rule is shown in fig. 3.
The T-S feedback gain 202 fuzzy inference method adopts an algebraic product-weighted average discrimination method as shown in the following formula to obtain T-S type fuzzy feedback gain KefThe non-linearisation curve of (2) is shown in figure 4.
Figure BDA0003622440380000072
In the formula: omega1Is a first membership function value;
ω2is a second membership function value;
ω3is a third membership function value;
z1feedback gain K corresponding to the first membership function valueefA value;
z2feedback gain K corresponding to the second membership function valueefA value;
z3feedback gain K corresponding to function value of third membership degreeefA value;
z is the feedback gain K of the final outputefThe value is obtained.
In summary, the following steps: when the potential difference between the master manipulator and the slave manipulator is large, the feedback force is large, and the feedback gain K is output through T-S fuzzy inferenceefHas a small value, reduces the feedback force and KefAnd thereby reducing the feedback force of the master end robot. The feedback force can be ensured within the range tolerable by human hands according to corresponding adjustment, and the impact force influence is reduced.
When the master end mechanical arm and the slave end mechanical armWhen the position difference of the hand is small, the feedback force is small, and the feedback gain K is output through the T-S fuzzy inferenceefHas a large value, increases the feedback force and KefThe feedback force of the main-end manipulator is increased, so that the feedback sensitivity can be improved, and the telepresence is enhanced.
When the feedback force varies in the middle range, the feedback gain KefThe value of the auxiliary manipulator is kept stable and basically unchanged, so that an operator can accurately sense the stress change condition of the auxiliary manipulator, and more real force telepresence is obtained; feedback gain K due to T-S fuzzy inference methodefThe feedback force is not changed suddenly, and the telepresence of an operator is enhanced.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention made by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims (6)

1. A master-slave bidirectional control method of a redundant degree of freedom teleoperation robot is characterized in that:
s1, measuring the main hand force F on the main manipulator by the main three-dimensional force sensormDominant hand force FmConverted into digital signals by an A/D converter and then amplified by an amplifying circuit KmThe amplified digital signals are input to a force adjuster, the force adjuster processes the digital signals and then inputs the processed digital signals to a slave end controller, and then the digital signals are converted into current signals through a D/A converter and input to a servo motor of a slave end manipulator so as to drive the slave end manipulator to move;
s2, measuring the angle value of the joint rotation angle of the slave manipulator by the absolute value encoder of the slave manipulator, converting the angle value by an A/D converter to obtain the displacement q of the joint of the slave manipulatorsThe rotation angle of the main end control handle measured by the absolute value encoder of the main end manipulator passes through an A/D converter conversion and amplification circuit KmAmplifying, and calculating by inverse kinematics to obtain a main end manipulatorJoint displacement qmThe displacement q of the main end manipulator jointmAnd the joint displacement q of the slave manipulatorsDifferencing to obtain a potential difference signal eqThe said potential difference signal eqThe potential difference signal e is output to a D/A converter by a slave controller to control the servo motor of the slave manipulator to work so as to drive the slave manipulator to moveqNormalized bit difference e is obtained through normalization processingq' post input to the T-S feedback gain;
s3, normalized bit difference eq' obtaining a feedback gain K by T-S feedback gainefWill normalize the potential difference eq' and feedback gain KefThe product of the two-dimensional motion vector is input into a main end controller as an input value and output, and an output signal of the main end controller is input into a servo motor of a main end manipulator through a D/A converter so as to drive the main end manipulator to move;
wherein the bit difference signal eqNormalizing to obtain a normalized bit difference eq', normalized potential difference eqThe calculation formula of' is as follows:
Figure FDA0003622440370000011
in the formula: e.g. of a cylinderq' is the normalized bit difference value; e.g. of a cylinderqminIs the minimum bit difference value; e.g. of the typeqmaxIs the maximum bit difference value;
said normalized bit difference eq' define three overlapping fuzzy subsets in domain: s, M, B, respectively;
the T-S feedback gain adopts T-S fuzzy mapping, and the fuzzy mapping rule of the T-S feedback gain is as follows:
phi (normalized bit difference is S) then (feedback gain K)ef is 1.5)；
If (normalized difference is M) then (feedback gain K)ef is 1.0)；
③ if (normalized difference is B) then (feedback gain K)ef is 0.5)。
2. The master-slave bidirectional control method of the redundant degree of freedom teleoperation robot according to claim 1, characterized in that:
the fuzzy subsets S and B adopt Gaussian membership functions, the setting parameters are [ 0.0750 ] and [ 0.0751 ], the fuzzy subset M adopts a trapezoidal membership function, and the setting parameter is [ 0.060.160.840.94 ].
3. The redundant degree of freedom teleoperation robot master-slave bidirectional control method of claim 1, characterized in that:
the T-S feedback gain fuzzy mapping adopts an algebraic product-weighted average discrimination method to obtain a T-S type fuzzy feedback gain KefThe non-linear curve of (a) is,
wherein, KefThe value of (Z) is calculated as follows:
Figure FDA0003622440370000021
in the formula: omega1Is a first membership function value; omega2Is a second membership function value; omega3Is a third membership function value; z is a radical of1Feedback gain K corresponding to the first membership function valueefA value; z is a radical of2Feedback gain K corresponding to the second membership function valueefA value; z is a radical of3Feedback gain K corresponding to function value of third membership degreeefA value; z is the feedback gain K of the final outputefThe value of (c).
4. A control system for the redundant degree of freedom teleoperation robot master-slave bidirectional control method of claim 1, characterized in that: the mechanical arm comprises a main end mechanical arm, a computer control unit and a slave end mechanical arm, wherein the main end mechanical arm is provided with two rotational degrees of freedom in mutually perpendicular directions, the main end mechanical arm comprises a control handle, a three-dimensional force sensor, a servo motor and an absolute value encoder, the three-dimensional force sensor, the servo motor and the absolute value encoder are all arranged on the operation handle of the main end mechanical arm, a rotary joint of the slave end mechanical arm is provided with four rotational degrees of freedom, the servo motor and the absolute value encoder are fixedly arranged at the rotary joint of the slave end mechanical arm, and the computer control unit comprises a main end controller, a calculation module, a T-S feedback gain unit, a force adjuster and a slave end controller which are mutually connected in a communication manner;
the output end of the three-dimensional force sensor is connected with the input end of the force adjuster by means of an A/D converter, the output end of an absolute value encoder of the main-end manipulator is connected with the input end of the computing module by means of an A/D converter, the output end of the computing module is respectively connected with the T-S feedback gain unit and the input end of the force adjuster, the output end of the force adjuster is connected with the input end of the slave-end controller, the output end of the slave-end controller is connected with the input end of a servo motor of the slave-end manipulator by means of a D/A converter, the output end of the T-S feedback gain unit is connected with the input end of the main-end controller, and the output end of the main-end controller is connected with the input end of the servo motor of the main-end manipulator by means of a D/A converter.
5. The control system of claim 4, wherein: the three-dimensional force sensor, the servo motor and the absolute value encoder of the main-end manipulator are mounted by means of a mounting frame.
6. The control system of claim 4, wherein: the calculation module is used for calculating the normalized potential difference eq′。
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