CN114770458B - Master-slave bidirectional control method and system for redundancy degree-of-freedom teleoperation robot - Google Patents

Master-slave bidirectional control method and system for redundancy degree-of-freedom teleoperation robot Download PDF

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CN114770458B
CN114770458B CN202210471133.1A CN202210471133A CN114770458B CN 114770458 B CN114770458 B CN 114770458B CN 202210471133 A CN202210471133 A CN 202210471133A CN 114770458 B CN114770458 B CN 114770458B
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manipulator
slave
feedback gain
feedback
bit difference
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CN114770458A (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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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

Abstract

The invention provides a redundancy degree-of-freedom teleoperation robot master-slave bidirectional control method and a system, wherein the control method comprises the following steps: an operator operates a main end manipulator, the main hand force detected by a three-dimensional force sensor is controlled to move by a slave end controller through an A/D converter and an amplifying circuit, the displacement of the main end manipulator is calculated by inverse kinematics and forms a potential difference signal normalization processing with the displacement of the slave end manipulator, and a feedback gain K is obtained through a T-S fuzzy reasoning process ef Thereby generating a feedback force. By using the control method and the system of the invention, when the master bit difference signal and the slave bit difference signal are larger, the T-S feedback gain K ef The feedback force of the main end manipulator is reduced, and the impact force is reduced; when the master bit difference signal and the slave bit difference signal are smaller, the T-S feedback gain K ef The feedback force of the main end manipulator is increased, and the feedback sensitivity is improved; T-S feedback gain K ef The feedback force is changed continuously in a segmented way, and has no abrupt change, so that the feedback sensitivity can be improved, and the presence of an operator is enhanced.

Description

Master-slave bidirectional control method and system for redundancy degree-of-freedom teleoperation robot
Technical Field
The invention relates to the technical field of teleoperation robots, in particular to a redundancy degree-of-freedom teleoperation robot master-slave bidirectional control method and system.
Background
With the application of robots in various fields of nuclear reactors, deep sea exploration, space development, tele/micro-manipulation, telemedicine and human life, there is an urgent need for a great number of advanced robots working in environments where people are difficult to access or harmful to the human body, tele-manipulation robots have arisen.
The bidirectional servo control is interactive feedback control of information between a master hand and a slave hand, the existing control system mostly adopts the master hand to move first, the slave hand moves along with the displacement of the master hand, the force received by the slave hand is fed back to the master hand, but the slave hand can suddenly generate larger feedback force when contacting a rigid object, impact and shake are caused to the master hand, and the operation feeling is poor.
In the "two-degree-of-freedom position feedback type bidirectional servo hand controller control system" disclosed in chinese patent CN200820072288.3, the control system adopts the potential difference to generate feedback force, so as to reduce impact and vibration to the master hand, but the control strategy adopts fixed gain for feedback force, when the feedback force is larger, the master hand operation is more laborious, when the feedback force is smaller, the operator can not feel the feedback force, and the feeling of reality and operation accuracy are reduced.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a method and a system for controlling a master-slave bi-direction of a teleoperation robot with redundant degrees of freedom, which can improve feedback sensitivity and enhance the sense of presence.
Specifically, in one aspect, the present invention provides a method for controlling a master-slave bi-direction of a teleoperation robot with redundant degrees of freedom, comprising the steps of:
s1, a main end three-dimensional force sensor measures main hand force F on a main end manipulator m Main hand force F m Converted into a digital signal by an A/D converter and then passed through an amplifying circuit K m The amplified digital signals are input to a force regulator, the force regulator 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 an angle value of a joint angle of the slave manipulator by an absolute value encoder of the slave manipulator, and obtaining the joint displacement q of the slave manipulator after the angle value is converted by an A/D converter s The rotation angle of the main end control handle measured by the absolute value encoder of the main end manipulator is converted and amplified by an A/D converter circuit K m Amplifying, and obtaining the joint displacement q of the manipulator at the main end through inverse kinematics calculation m The joint displacement q of the manipulator at the main end m Joint displacement q of slave manipulator s Difference is made to obtain a bit difference signal e q The bit difference signal e q Via output from end controller to D/A converterAfter the converter is replaced, the slave manipulator servo motor is controlled to work so as to drive the slave manipulator to move, and the potential difference signal e q The normalized potential difference e 'is obtained through normalization processing' q Then inputting the feedback gain into a T-S feedback gain;
s3, normalizing the potential difference e' q Obtaining feedback gain K through T-S feedback gain ef Will normalize the bit difference e' q And feedback gain K ef The product of the two is used as an input value to be input into a main end controller and output, and an output signal of the main end controller is input to 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 e q Normalization to obtain normalized potential difference e' q Normalized bit difference e' q The calculation formula of (2) is as follows:
wherein: e' q Is a normalized bit difference value; e, e qmin Is the minimum bit difference; e, e qmax Is the maximum bit difference value;
the normalized bit difference e' q Three overlapping fuzzy subsets are defined in the universe: s, M, B;
the T-S feedback gain adopts T-S fuzzy mapping, and the rule of the fuzzy mapping of the T-S feedback gain is as follows:
(1) if (normalized bit difference is S) then (feedback gain K ef is 1.5)；
(2) if (normalized bit difference is M) then (feedback gain K ef is 1.0)；
(3) if (normalized bit difference is B) then (feedback gain K ef is 0.5)。
Preferably, the fuzzy subsets S and B adopt Gaussian membership functions, the setting parameters are [0.075 0] and [0.075 1], and the fuzzy subset M adopts trapezoidal membership functions, and the setting parameters are [0.06 0.16 0.84 0.94].
Preferably, the T-S feedback gain fuzzy mapping adopts algebraic product-weighted average discriminationObtaining the feedback gain K of the T-S type mould ef Is used for the non-linear curve of the (c),
wherein K is ef The formula for calculating the value Z of (2) is as follows:
wherein: omega 1 Is a first membership function value; omega 2 Is a second membership function value; omega 3 Is a third membership function value; z 1 For the feedback gain K corresponding to the first membership function value ef A value; z 2 Feedback gain K corresponding to the second membership function value ef A value; z 3 Feedback gain K corresponding to the third membership function value ef A value; z is the feedback gain K of the final output ef Is a value of (2).
Specifically, another aspect of the present invention further provides a redundant degree-of-freedom teleoperation robot master-slave bidirectional control system, which includes a master end manipulator, a computer control unit and a slave end manipulator, wherein the master end manipulator has two rotational degrees of freedom in mutually perpendicular directions, the master end manipulator includes a manipulation 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 installed on a rotary joint of the master end manipulator for operating the slave end manipulator, the rotary joint of the slave end manipulator is fixedly provided with a servo motor and an absolute value encoder, and the computer control unit includes a master end controller, a calculation module, a T-S feedback gain unit, a force adjuster and a slave end controller which are mutually in communication connection;
the output end of the three-dimensional force sensor is connected with the input end of the force regulator by means of an A/D converter, the output end of the absolute value encoder of the master manipulator is connected with the input end of the calculation module by means of an A/D converter, the output end of the calculation module is respectively connected with the T-S feedback gain unit and the input end of the force regulator, the output end of the force regulator is connected with the input end of the slave manipulator, the output end of the slave manipulator is connected with the input end of the servo motor of the slave 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 master manipulator, and the output end of the master manipulator is connected with the input end of the servo motor of the master 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 installed by means of the installation frame.
Preferably, the calculation module is used 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 larger, the feedback force is larger, and the feedback gain K is output through T-S fuzzy reasoning ef The value of (2) is small, and the feedback force is equal to K ef The product of the mechanical arm is reduced, so that the feedback force of the mechanical arm at the main end is reduced, the feedback force is ensured to be within a tolerance range of a human hand, and the impact force influence is lightened.
(2) When the potential difference between the master manipulator and the slave manipulator is smaller, the feedback force is smaller, and the feedback gain K is output through T-S fuzzy reasoning ef The value of (2) is larger, and the feedback force is equal to K ef The product of the two is increased, so that the feedback force of the main end manipulator is increased, the feedback sensitivity is improved, and the presence is enhanced.
(3) When the feedback force of the invention changes in the middle range, the feedback gain K ef The value of the slave manipulator is kept unchanged, and an operator can accurately sense the stress change condition of the slave manipulator, so that more real force sense presence is obtained.
(4) The feedback gain K generated by the T-S fuzzy reasoning method in the invention ef The device is changed in a piecewise continuous mode, the change process is mild, the feedback force is free from mutation, and the presence of an operator is enhanced.
(5) The invention adopts the main hand force F m For the control of the slave manipulator of the control signal pair, the vibration of the slave manipulator when contacting the rigid object is effectively reduced; the position of the slave hand is corrected by adopting the master-slave hand position difference signal, thereby improving the position of the slave manipulatorAnd setting control precision.
Drawings
FIG. 1 is a schematic diagram of a master-slave bi-directional servo system in accordance with the present invention;
FIG. 2 shows the input variable e of the present invention q Fuzzification map;
FIG. 3 is a diagram of the fuzzy mapping rules of the present invention;
FIG. 4 shows the variable gain feedback coefficient K of the present invention ef Graph diagram.
In the figure: 1-master end manipulator, 101-control handle, 102-three-dimensional force sensor, 103-servo motor, 104-absolute value encoder, 2-computer control unit, 201-master end controller, 202-T-S feedback gain, 203-force regulator, 204-slave end controller, 3-slave end manipulator, 301-servo motor, 302-absolute value encoder, 4-A/D converter, 5-amplifying circuit K m1 6-D/A converter, 7-A/D converter, 8-A/D converter, 9-amplifying circuit K m2 10-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 teleoperated robot master-slave bidirectional control system, which includes a master manipulator 1, a computer control unit 2, and a slave manipulator 3, the master manipulator 1 having two rotational degrees of freedom in mutually perpendicular directions, including a manipulating handle 101, a three-dimensional force sensor 102, a servo motor 103, and an absolute value encoder 104, the slave manipulator 3 having four rotational degrees of freedom and a servo motor 301 and an absolute value encoder 302 fixedly installed at a rotary joint, the computer control unit 2 including 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 drawing, for calculating a normalized bit error e '' q )。
The output end of the three-dimensional force sensor 102 is connected with the input end of the force adjuster 203 by means of the A/D converter 4, the output end of the absolute value encoder 104 of the master manipulator 1 is connected with the input end of the calculation module by means of the A/D converter, the output end of the calculation module is respectively connected with the input ends of the 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 the slave controller 204, the output end of the slave controller 204 is connected with the input end of the servo motor 301 of the slave manipulator by means of the D/A converter 6, the output end of the T-S feedback gain unit 202 is connected with the input end of the active controller 201, and the output end of the active controller 201 is connected with the input end of the servo motor 103 of the master manipulator by means of the 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 method for controlling a master-slave bi-direction of a redundant degree-of-freedom teleoperated robot, the method comprising the steps of:
s1, a main end three-dimensional force sensor 102 measures a main hand force F applied to a main end manipulator 1 m Is the main hand force F detected m Converted into a digital signal by an A/D converter 4 and an amplifying circuit K m1 5, the amplified signal is input to the force regulator 203, the signal is processed by the force regulator 203, then is input to the slave end controller 204, is converted into a current signal through the D/A converter 6, and is input to the servo motor 301, and the servo motor 301 works to drive the slave end manipulator 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 7 to obtain the slave joint displacement q s The rotation angle of the main end control handle 101 measured by the main end absolute value encoder 104 is converted by the A/D converter 8 and amplified by the circuit K m2 9, amplifying, and obtaining the joint displacement q of the main end through inverse kinematics calculation m Primary end joint displacement q m Displacement q of slave end joint s Difference is made to obtain a bit difference signal e q Bit difference signal e q After being output from the end controller 204 to the D/A converter 6 for conversion, the servo motor 301 is controlled to work so as to drive the end manipulator 2 to move, and the potential difference signal e q Normalized to obtain normalized bit difference e' q Normalized bit difference e' q Is input into the T-S feedback gain 202.
S3, normalizing the potential difference e' q After the fuzzy controller makes an inference decision, the output is reversedFeed gain K ef Normalized bit difference e 'of the values of (2)' q And feedback gain K ef 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 are 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: T-S feedback gain 202 adopts Takagi-Sugeno fuzzy mapping reasoning, and the joint displacement q of the main end m Displacement q of slave end joint s Difference is made to obtain a bit difference signal e q Normalized by the following formula to obtain normalized bit difference e' q Normalized bit difference e' q Three overlapping fuzzy subsets are defined in the universe: s, M, B the fuzzy subsets S and B use Gaussian membership functions with parameters of [0.075 0] respectively]And [0.075 1]The fuzzy subset M adopts a trapezoidal membership function, and the setting parameter is [0.06 0.16 0.84 0.94]]Obtaining a bit difference signal e as shown in FIG. 2 q Blurring the graph.
Wherein: e' q Is a normalized bit difference value; e, e qmin Is the minimum bit difference; e, e qmax Is the maximum bit difference value.
As a preferred technical scheme of the invention patent: the fuzzy mapping rule of the T-S feedback gain 202 is:
(1) if (normalized bit difference is S) then (feedback gain K ef is 1.5)；
(2) if (normalized bit difference is M) then (feedback gain K ef is 1.0)；
(3) if (normalized bit difference is B) then (feedback gain K ef is 0.5)；
The fuzzy mapping rule is shown in fig. 3.
The fuzzy reasoning method of the T-S feedback gain 202 adopts a algebraic product-weighted average discrimination method, and the T-S type fuzzy feedback gain K is obtained as shown in the following formula ef The non-linearisation curve of (2) is shown in figure 4.
Wherein: omega 1 Is a first membership function value;
ω 2 is a second membership function value;
ω 3 is a third membership function value;
z 1 for the feedback gain K corresponding to the first membership function value ef A value;
z 2 feedback gain K corresponding to the second membership function value ef A value;
z 3 feedback gain K corresponding to the third membership function value ef A value;
z is the feedback gain K of the final output ef Values.
To sum up: when the potential difference between the master manipulator and the slave manipulator is larger, the feedback force is larger, and the feedback gain K is output through T-S fuzzy reasoning ef Has smaller value, reduces the feedback force and K ef And further reduces the feedback force of the main end manipulator. According to the corresponding adjustment, the feedback force can be ensured to be within a tolerable range of the hands, and the impact force influence is lightened.
When the potential difference between the master manipulator and the slave manipulator is smaller, the feedback force is smaller, and the feedback gain K is output through T-S fuzzy reasoning ef Has larger value and increases the feedback force and K ef And further increases the feedback force of the main end manipulator, thereby improving the feedback sensitivity and enhancing the presence.
When the feedback force varies in the intermediate range, the feedback gain K ef The value of the slave manipulator is kept stable and basically unchanged, and an operator can accurately sense the stress change condition of the slave manipulator to obtain more real force sense presence; feedback gain K due to T-S fuzzy inference method ef The device is changed in a piecewise continuous mode, the change process is mild, the feedback force is free from mutation, and the presence of an operator is enhanced.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.

Claims (6)

1. A redundant degree-of-freedom teleoperation robot master-slave bidirectional control method is characterized in that:
s1, a main end three-dimensional force sensor measures main hand force F on a main end manipulator m Main hand force F m Converted into a digital signal by an A/D converter and then passed through an amplifying circuit K m The amplified digital signals are input to a force regulator, the force regulator 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 an angle value of a joint angle of the slave manipulator by an absolute value encoder of the slave manipulator, and obtaining the joint displacement q of the slave manipulator after the angle value is converted by an A/D converter s The rotation angle of the main end control handle measured by the absolute value encoder of the main end manipulator is converted and amplified by an A/D converter circuit K m Amplifying, and obtaining the joint displacement q of the manipulator at the main end through inverse kinematics calculation m The joint displacement q of the manipulator at the main end m Joint displacement q of slave manipulator s Difference is made to obtain a bit difference signal e q The bit difference signal e q The slave manipulator servo motor is controlled to work after the slave manipulator servo motor is output to the D/A converter from the end controller so as to drive the slave manipulator to move, and the potential difference signal e q The normalized bit difference e is obtained through normalization processing q ' post-input into the T-S feedback gain;
s3, normalizing the bit difference e q ' feedback gain K is obtained through T-S feedback gain ef Will normalize the bit difference e q ' and feedback gain K ef The product of the two is input into the main end controller as an input value and output, and the output signal of the main end controller is input into the main end machine through the D/A converterThe servo motor of the manipulator drives the main end manipulator to move;
wherein the bit difference signal e q Normalization to obtain normalized potential difference e q ' normalized bit-difference e q The' calculation formula is as follows:
wherein: e, e q ' is the normalized bit difference value; e, e qmin Is the minimum bit difference; e, e qmax Is the maximum bit difference value;
the normalized bit difference e q Three overlapping fuzzy subsets are defined on the' argument: s, M, B;
the T-S feedback gain adopts T-S fuzzy mapping, and the rule of the fuzzy mapping of the T-S feedback gain is as follows:
(1) if (normalized bit difference is S) then (feedback gain K ef is 1.5)；
(2) if (normalized bit difference is M) then (feedback gain K ef is 1.0)；
(3) if (normalized bit difference is B) then (feedback gain K ef is 0.5)。
2. The redundant degree-of-freedom teleoperated robot master-slave bi-directional control method of claim 1, wherein:
the fuzzy subsets S and B adopt Gaussian membership functions, the setting parameters are [ 0.0750 ] and [ 0.0751 ] respectively, the fuzzy subset M adopts trapezoidal membership functions, and the setting parameters are [0.06 0.16 0.84 0.94].
3. The redundant degree-of-freedom teleoperated robot master-slave bi-directional control method of claim 1, wherein:
the T-S feedback gain fuzzy mapping adopts a algebraic product-weighted average discrimination method to obtain T-S type fuzzy feedback gain K ef Is used for the non-linear curve of the (c),
wherein K is ef The formula for calculating the value Z of (2) is as follows:
wherein: omega 1 Is a first membership function value; omega 2 Is a second membership function value; omega 3 Is a third membership function value; z 1 For the feedback gain K corresponding to the first membership function value ef A value; z 2 Feedback gain K corresponding to the second membership function value ef A value; z 3 Feedback gain K corresponding to the third membership function value ef A value; z is the feedback gain K of the final output ef Is a value of (2).
4. A control system for the redundant degree-of-freedom teleoperated robot master-slave bi-directional control method of claim 1, characterized by: the automatic control system comprises a main end manipulator, a computer control unit and a slave end manipulator, wherein the main end manipulator is provided with two rotational degrees of freedom in mutually perpendicular directions, the main end manipulator comprises an operating 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 operating handle of the main end manipulator, a rotary joint of the slave end manipulator 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 manipulator, and the computer control unit comprises a main end controller, a calculation module, a T-S feedback gain unit, a force regulator and a slave end controller which are mutually in communication connection;
the output end of the three-dimensional force sensor is connected with the input end of the force regulator by means of an A/D converter, the output end of the absolute value encoder of the master manipulator is connected with the input end of the calculation module by means of an A/D converter, the output end of the calculation module is respectively connected with the T-S feedback gain unit and the input end of the force regulator, the output end of the force regulator is connected with the input end of the slave manipulator, the output end of the slave manipulator is connected with the input end of the servo motor of the slave 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 master manipulator, and the output end of the master manipulator is connected with the input end of the servo motor of the master 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 installed by means of the installation frame.
6. The control system of claim 4, wherein: the calculation module is used for calculating a normalized bit difference e q ′。
CN202210471133.1A 2022-04-28 2022-04-28 Master-slave bidirectional control method and system for redundancy degree-of-freedom teleoperation robot Active CN114770458B (en)

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