CN115357851A - Master-slave end hybrid mapping method for man-machine interaction system and application thereof - Google Patents
Master-slave end hybrid mapping method for man-machine interaction system and application thereof Download PDFInfo
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Abstract
The invention discloses a master-slave end hybrid mapping method for a human-computer interaction system and application thereof, belonging to the technical field of human-computer interaction and comprising the following steps: the slave end executes a corresponding mapping method according to a mode selected by the master end at different stages and under specific task requirements; the modes of the man-machine interaction system comprise a first mode and a second mode; the mapping method corresponding to the first mode is applied to a large-range fast rough positioning operation scene, and the mapping method corresponding to the second mode is applied to a small-range slow fine positioning operation scene; by the hybrid mapping method provided by the invention, the reachable range of the working space of the man-machine interaction system is improved, and the consistency of the tail end postures of the master-slave end equipment is also kept; after mode switching is carried out, not only can fine operation under operation space mapping be realized, but also continuous smooth switching of positions and postures can be realized, so that continuous smooth switching among different operation modes is realized, and tracking errors between a master end and a slave end are greatly reduced.
Description
Technical Field
The invention belongs to the technical field of human-computer interaction, and particularly relates to a master-slave end hybrid mapping method for a human-computer interaction system and application thereof.
Background
In recent years, man-machine interactive systems represented by teleoperation are widely applied to the fields of telemedicine, field search and rescue and the like. Through equipment such as people's remote control robot, can transmit human wisdom to the robot, let the robot replace human and carry out dangerous or complicated task. In the man-machine interaction system, a master end device is used for collecting instruction information of an operator, and a slave end device is used for executing instructions of the operator. In order to realize efficient and accurate operation of a human-computer interaction system, a working space of a master-slave end device needs to be mapped, and currently, common mapping modes comprise joint space mapping and operation space mapping.
Joint space mapping can achieve large-range fast movement, but control accuracy is low, and user experience is poor. The operation space mapping can realize small-range fine operation, but the moving range is small, and the reachable range of the working space is limited. In order to solve the above problems, the existing research considers that the advantages of the two are fused, and when large-range quick rough positioning operation is executed, a joint space mapping mode is adopted; when small-range slow-speed fine operation is executed, an operation space mapping mode is adopted, so that a hybrid switching mapping method is provided; however, when the method is switched between the two mapping modes, the consistency of the end positions of the master end and the slave end relative to the coordinates of the base cannot be ensured, and the continuous smooth switching between different operation modes cannot be realized, so that the tracking error between the master end and the slave end is larger, and the practicability and the user experience of the man-machine interaction system are poorer.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides a master-slave end hybrid mapping method for a human-computer interaction system and application thereof, which are used for solving the technical problem that when the prior human-computer interaction system considers large-range positioning and small-range fine operation, the tracking error between the master end and the slave end is larger because continuous smooth switching between different operation modes cannot be realized.
In order to achieve the above object, in a first aspect, the present invention provides a master-slave hybrid mapping method for a human-computer interaction system, including: the slave end executes a corresponding mapping method according to a mode selected by the master end at different stages and under specific task requirements; the modes of the man-machine interaction system comprise a first mode and a second mode;
the mapping method corresponding to the first mode comprises the following steps: the joint angle values of the main end shafts input at each moment are respectively subjected to the following operations: maximum ratio mapping is respectively carried out on the joint angle values of the front three shafts of the main end to obtain the joint angle values of the front three shafts of the slave end, and then a rotation matrix of the front three shafts of the slave end is obtained; based on the consistency of the rotation matrixes of the tail ends of the master and slave end equipment, the rotation matrixes of the front three shafts of the slave end are combined to calculate to obtain the rotation matrixes of the rear three shafts of the slave end, and the joint angle values of the rear three shafts of the slave end are obtained through inverse solution, so that the mapping result of the joint angle values of each shaft of the slave end is obtained;
the corresponding mapping method in the second mode comprises the following steps: mapping the change amount of the tail end position of the main end from the moment of the switching point to the current moment according to a preset proportion to obtain the change amount of the tail end position of the slave end at the current moment, so as to obtain a mapping result of the tail end position of the slave end at the current moment; meanwhile, the same rotation transformation is carried out on the tail end gesture of the slave end based on the rotation matrix of the tail end gesture of the master end from the switching point moment to the current moment, so that the mapping result of the tail end gesture of the slave end at the current moment is obtained; the switching point is the switching point when the first mode is switched to the second mode.
Further preferably, the mapping method in the first mode includes:
respectively mapping the joint angle values of the front three shafts of the main end in the maximum proportion to obtain the joint angle values of the front three shafts of the slave end;
obtaining a rotation matrix of the front end three shafts of the slave end through positive kinematics calculation according to the joint angle values of the front end three shafts of the slave end and a DH parameter model of the front end three shafts of the slave end;
based on the consistency of the rotation matrixes of the tail ends of the master and slave end equipment, the rotation matrixes of the front three shafts of the slave end are combined to calculate to obtain the rotation matrixes of the rear three shafts of the slave end;
and obtaining the joint angle values of the slave end rear three axes through inverse kinematics and inverse solution based on the rotation matrix of the slave end rear three axes and the DH parameter model of the slave end rear three axes, thereby obtaining the mapping result of the joint angle values of each slave end axis.
Further excellenceGround selection, rotation matrix of rear three axes
Comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,
a rotation matrix of the front three axes of the slave end;
is a rotation matrix of all axes of the main end.
Further preferably, the joint angle value of the ith axis from among the front three axes
Comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,
the maximum joint angle value of the ith axis in the front three axes is obtained;
the minimum joint angle value of the ith axis in the front three axes is obtained;
the maximum joint angle value of the ith axis in the front three axes of the main end is obtained;
the minimum joint angle value of the ith axis in the front three axes of the main end is obtained;
the joint angle value of the ith axis in the front three axes of the main end is obtained.
Further preferably, the mapping result from the end position at the current time is:
wherein, the first and the second end of the pipe are connected with each other,
the position of the slave end at the moment of switching point; k is a preset scaling factor;
the position of the tail end of the main end at the current moment;
the slave end position at the time of the switching point.
Further preferably, the method for obtaining the mapping result of the terminal end posture at the current time includes: based on the consistency of the tail end rotation matrixes of the master end equipment and the slave end equipment, the rotation matrix of the tail end posture of the master end from the switching point time to the current time is combined, the rotation matrix of the tail end posture of the slave end from the switching point time to the current time is obtained through calculation, the increment of the tail end posture of the slave end from the switching point time to the current time is obtained, and then the mapping result of the tail end posture of the slave end at the current time is obtained through calculation according to the tail end posture of the slave end at the switching point time.
Further preferably, the rotation matrix from the switching point time to the current time from the end-to-end attitude is:
wherein, the first and the second end of the pipe are connected with each other,
when it is a switching pointA carved rotation matrix of the position posture from the tail end of the slave end;
a rotation matrix of the pose of the tail end of the main end at the moment of switching points;
and the rotation matrix is the rotation matrix from the switching point moment to the main end terminal pose at the current moment.
In a second aspect, the present invention provides a slave device, and the state information of the master device is mapped by using the master-slave hybrid mapping method provided in the first aspect of the present invention.
In a third aspect, the present invention provides a human-computer interaction system, including: the master end equipment, the communication equipment and the slave end equipment provided by the second aspect of the invention.
In a fourth aspect, the present invention provides a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by a processor, cause the processor to implement the master-slave hybrid mapping method provided by the first aspect of the present invention.
Generally, by the above technical solution conceived by the present invention, the following beneficial effects can be obtained:
1. the invention provides a master-slave end hybrid mapping method for a human-computer interaction system, wherein a slave end executes a corresponding mapping method according to modes selected by a master end at different stages and under specific task requirements; the mapping method corresponding to the first mode is applied to a large-range quick rough positioning operation scene, joint space mapping is only carried out at the moment, the large action range is considered to be large in the large-range quick rough positioning operation scene, and the main factor influencing the action range is the front three shafts. The corresponding mapping method in the second mode is applied to a small-range slow-speed fine operation scene, the master-slave end state at the moment of switching points is taken as a reference, operation space mapping is carried out based on the terminal position increment, and meanwhile, attitude increment operation space mapping is carried out based on the terminal attitude increment; according to the hybrid mapping method, in the first mode, the consistency of the poses of the rear three shafts of the master end and the slave end in the process of carrying out large-range movement along with the master end is ensured based on the corresponding mapping method in the first mode; on the basis, when the mode is switched to the second mode, consistency of pose variation is further ensured based on a corresponding mapping method in the second mode, so that the reach range of a working space of a man-machine interaction system is improved, and meanwhile consistency of the terminal poses of the master-slave end equipment is also maintained; after mode switching is carried out, fine operation under operation space mapping can be achieved, and continuous smooth switching of positions and postures can be achieved, so that continuous smooth switching among different operation modes is achieved, and tracking errors between a master end and a slave end are greatly reduced.
2. Considering that the attitude increment is a nonlinear increment, the master-slave hybrid mapping method provided by the invention calculates the attitude mapping relation of the master and slave based on the attitude increment of the rotation matrix, represents the attitude increment of the master-slave equipment by using the rotation matrix, and enables the slave equipment to carry out the same rotation transformation according to the attitude increment of the master-slave equipment, thereby ensuring that the transformation of the master-slave attitude is consistent on the basis of the original attitude and the accuracy is higher.
3. The master-slave end hybrid mapping method provided by the invention can be directly applied to the existing man-machine interaction system under the condition that the hardware architecture and the transmission mode of the man-machine interaction system are not required to be changed, and the compatibility is strong.
Drawings
Fig. 1 is a flowchart of a master-slave hybrid mapping method for a human-computer interaction system according to embodiment 1 of the present invention;
fig. 2 is a point cloud diagram of the reachable range of the original working space of the master-slave device in embodiment 1 of the present invention; wherein, (a) is a three-dimensional point cloud chart of the reachable range of the original working space of the master-slave end equipment; (b) The method comprises the following steps of (1) obtaining a point cloud picture of a reachable range of a master-slave end equipment original working space on an XY coordinate plane in a three-dimensional point cloud picture; (c) The cloud point diagram is a cloud point diagram of the reachable range of the original working space of the master-slave end equipment on a YZ coordinate plane in the three-dimensional cloud point diagram; (d) The method comprises the following steps of (1) obtaining a point cloud picture of the reachable range of the original working space of master-slave end equipment on an XZ coordinate plane in a three-dimensional point cloud picture;
fig. 3 is a cloud point diagram of the coverage of the reachable working space of the master-slave device after mapping by the master-slave hybrid mapping method provided by the invention; the three-dimensional point cloud chart of the reachable range of the working space of the master-slave end equipment is mapped by the master-slave end hybrid mapping method provided by the invention; (b) The point cloud picture of the reachable range of the working space of the master-slave end equipment on the XY coordinate plane in the three-dimensional point cloud picture is mapped by the master-slave end hybrid mapping method provided by the invention; (c) The point cloud picture of the reachable range of the working space of the equipment at the master end and the slave end on a YZ coordinate plane in the three-dimensional point cloud picture is mapped by the master-slave end hybrid mapping method provided by the invention; (d) The point cloud picture of the reachable range of the working space of the master-slave end equipment on the XZ coordinate plane in the three-dimensional point cloud picture is mapped by the master-slave end hybrid mapping method provided by the invention;
fig. 4 is a graph of tracking the end position of the master-slave device obtained by using the master-slave hybrid mapping method provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Examples 1,
A master-slave hybrid mapping method for a human-computer interaction system, as shown in fig. 1, includes: the slave end executes a corresponding mapping method according to a mode selected by the master end at different stages and under specific task requirements; the modes of the man-machine interaction system comprise a first mode and a second mode; specifically, the main end (operator) selects a corresponding operation mode according to task requirements, when the main end selects a first mode, large-range quick rough positioning operation is correspondingly performed, and the main end state information acquired in real time at the moment comprises joint angle values of all axes of the main end; when the main end selects the second mode, small-range slow-speed fine operation is correspondingly performed, and the main end state information acquired in real time at the moment comprises the position and the posture of the tail end of the main end. In the master-end and slave-end apparatuses, six axes from the base to the end effector are, in order, the axis 1 to the axis 6. The front three shafts are the first three joints counted from the base, namely, the shaft 1 to the shaft 3; the rear three axes are the rear three joints, axis 4 to axis 6, counted from the base. In the embodiment, the master end adopts Geomagic Touch six-axis force feedback equipment, the slave end adopts a UR3 mechanical arm, and the communication mode between the master end and the slave end is wired or Wi-Fi.
The mapping method corresponding to the first mode comprises the following steps: the joint angle values of the main end shafts input at each moment are respectively subjected to the following operations: respectively mapping the joint angle values of the front three shafts of the main end in the maximum proportion to obtain the joint angle values of the front three shafts of the slave end, and further obtaining a rotation matrix of the front three shafts of the slave end; based on the consistency of the rotation matrixes of the tail ends of the master and slave end equipment, the rotation matrixes of the front three shafts of the slave end are combined to calculate to obtain the rotation matrixes of the rear three shafts of the slave end, and the joint angle values of the rear three shafts of the slave end are obtained through inverse solution, so that the mapping result of the joint angle values of each shaft of the slave end is obtained;
the corresponding mapping method in the second mode comprises the following steps: mapping the change quantity of the tail end position of the main end from the moment of the switching point to the current moment according to a preset proportion to obtain the change quantity of the tail end position of the slave end at the current moment, so as to obtain a mapping result of the tail end position of the slave end at the current moment; meanwhile, performing the same rotation transformation on the postures of the slave terminals based on the rotation matrix of the postures of the master terminals from the moment of the switching point to the current moment, thereby obtaining the mapping result of the postures of the slave terminals at the current moment; the switching point is the switching point when the first mode is switched to the second mode. In this embodiment, the specific value of the preset ratio may be set according to the moving range of the master-slave device and the range requirement of the current task. For example, if the master device can move within 0-10 cm, and the slave device that we need at present only needs to move within 0-10 cm, then the equal-scale mapping can be set, i.e. the preset scale is 1; if the range of motion of the master device is only 0-5 cm, but the slave needs to move within 0-10 cm, then the ratio of 1:2, i.e. the above-mentioned predetermined ratio is 0.5.
In an alternative embodiment, the mapping method (corresponding joint space mapping) in the first mode includes:
1) Respectively mapping the joint angle values of the front three shafts of the main end in the maximum proportion to obtain the joint angle values of the front three shafts of the slave end;
specifically, the joint angle value of the ith axis in the front three axes
Comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,
the maximum joint angle value of the ith axis in the front three axes is obtained;
the minimum joint angle value of the ith axis in the front three axes is obtained;
the maximum joint angle value of the ith axis in the front three axes of the main end is obtained;
is the third of the front three axes of the main endThe minimum joint angle value of the i axis;
the joint angle value of the ith axis in the front three axes of the main end is shown.
It should be noted that, reading the joint angle values of the main end axes at the current time is:
and calculating to obtain corresponding primary end homogeneous transformation matrix
Wherein, the joint angle value of the front three axes of the main end is:
after joint space mapping is carried out by the maximum ratio mapping method, the joint angle values of the front three axes of the slave end are obtained as follows:
2) According to the joint angle value of the front three axes of the slave end
And a DH parameter model of the front end triaxial, and obtaining a rotation matrix of the front end triaxial through positive kinematics calculation
3) Based on the consistency of the tail end rotation matrixes of the master end equipment and the slave end equipment, the rotation matrixes of the front three shafts of the slave end are combined to calculate to obtain the rotation matrixes of the rear three shafts of the slave end
In particular, from the rotation matrix of the end rear three axes
Comprises the following steps:
wherein the content of the first and second substances,
a rotation matrix of the front three axes of the slave end;
for the rotation matrix of all the axes of the main end, the matrix is transformed in accordance with the primary end in an homogeneous way
Obtaining;
3) Rotation matrix based on slave-end and back-end triaxial
And obtaining joint angle values of the rear end three axes through inverse kinematics and inverse solution by using a DH parameter model of the rear end three axes
Thereby comprehensively obtaining the mapping result of the joint angle values of the slave axes
The slave end subsequent mapping result Q can be based on the joint angle values of the slave end axes slave And controlling the slave end equipment.
The invention considers that under the large-range quick rough positioning operation scene, the action range is larger, and the main factor influencing the action range is the front three shafts, so the invention obtains the joint angle values of the front three shafts of the slave end by respectively carrying out maximum ratio mapping on the joint angle values of the front three shafts of the master end, so that the front three shafts of the slave end can flexibly move along with the front three shafts of the master end, then the posture of the rear three shafts of the slave end is calculated in real time based on the joint angle values of the front three shafts of the slave end, six shafts of the master end can be freely moved, and the posture of the rear three shafts of the slave end is kept consistent with the rear three shafts of the master end in real time, thereby ensuring the consistency of the postures of the rear three shafts of the master end and the slave end to be used as the basis for switching the states of the master end and the slave end under the subsequent mode.
In an optional implementation manner, the mapping method in the second mode includes: mapping from end-to-end position and from end-to-end attitude;
the specific process of mapping from the end position includes:
at the moment of switching point, reading the end position of the master end
And from the terminal end position
After the mode is switched, reading the tail end position of the main end at the current mapping moment, and calculating to obtain the mapping result of the tail end position of the slave end at the current moment as follows:
wherein, the first and the second end of the pipe are connected with each other,
the position of the slave end at the moment of switching point; k is a preset scaling factor, the numerical value of the scaling factor is determined according to the actual motion range of the master end and the slave end and the use requirement, and the value of k is 2 in the embodiment;
the position of the tail end of the main end at the current moment;
the slave end position at the moment of the switching point.
The specific process of mapping from the end pose comprises the following steps: based on the consistency of the tail end rotation matrixes of the master end equipment and the slave end equipment, the rotation matrix of the tail end posture of the master end from the switching point time to the current time is combined, the rotation matrix of the tail end posture of the slave end from the switching point time to the current time is obtained through calculation, the increment of the tail end posture of the slave end from the switching point time to the current time is obtained, and then the mapping result of the tail end posture of the slave end at the current time is obtained through calculation according to the tail end posture of the slave end at the switching point time. Wherein, the rotation matrix from the switching point moment to the current moment from the terminal end posture is:
wherein, the first and the second end of the pipe are connected with each other,
a rotation matrix of the slave end position posture at the moment of switching point;
a rotation matrix of the pose of the tail end of the main end at the moment of switching points;
and the rotation matrix is the rotation matrix from the switching point moment to the main end terminal pose at the current moment.
In the process, the invention calculates the attitude mapping relationship of the master and slave ends based on the attitude increment of the rotation matrix, and needs to use the rotation matrix to represent the attitude increment of the master end device, and make the slave end device perform the same rotation transformation according to the attitude increment of the master end device, so as to ensure that the transformation of the master and slave end attitudes is consistent on the basis of the original attitude.
In order to ensure smooth switching among different modes, in the first mode, according to the proposed improved joint mapping mode, the consistency of three-axis poses behind a master end and a slave end can be ensured through a real-time calculation mode, so that the state basis of the master end and the slave end at the switching point is consistent, on the basis, in the second mode, incremental operation space mapping is adopted, the situation change is further ensured to be the same, and under the combined action of the two modes, continuous smooth switching of the modes is realized.
To further illustrate the performance of the hybrid mapping method of the master-slave end provided by the present invention, the following is described:
specifically, a point cloud diagram of the original working space reachable range of the master-slave device is shown in fig. 2, wherein an outer circular area in the diagram is the reachable range of the working space of the slave device, and an inner fan-shaped area is the reachable range of the working space of the master device; wherein, the diagram (a) is a three-dimensional point cloud diagram of the reachable range of the original working space of the master-slave end equipment; the graph (b) is a point cloud graph of the reachable range of the original working space of the master-slave end equipment on the XY coordinate plane in the three-dimensional point cloud graph; the graph (c) is a point cloud graph of the reachable range of the original working space of the equipment at the master end and the slave end on a YZ coordinate plane in the three-dimensional point cloud graph; and (d) is a point cloud diagram of the reachable range of the original working space of the master-slave end equipment on an XZ coordinate plane in the three-dimensional point cloud diagram. As can be seen from fig. 2, the difference of the original working space reach of the master-slave end equipment is large. After mapping by the master-slave hybrid mapping method provided by the invention, the point cloud chart of the reachable working space coverage range of the master-slave device is shown in fig. 3, wherein the chart (a) is a three-dimensional point cloud chart of the reachable working space range of the master-slave device after mapping by the master-slave hybrid mapping method provided by the invention; the graph (b) is a point cloud graph of the reachable range of the working space of the master-slave end equipment on the XY coordinate plane in the three-dimensional point cloud graph after the master-slave end hybrid mapping method is used for mapping; the graph (c) is a point cloud graph of the reachable range of the working space of the master-slave end equipment on a YZ coordinate plane in a three-dimensional point cloud graph after the mapping is carried out by the master-slave end hybrid mapping method provided by the invention; and (d) is a point cloud picture of the reachable range of the working space of the master-slave end equipment on an XZ coordinate plane in the three-dimensional point cloud picture after the master-slave end hybrid mapping method is used for mapping. As can be seen from fig. 3, after the hybrid mapping method for the master and slave ends provided by the present invention is performed with mapping, the coverage of the working space of the master and slave ends is basically consistent, so that it can be seen that the coverage of the working space of the master and slave ends can be improved after the hybrid mapping method for the master and slave ends provided by the present invention is performed with mapping.
Further, as shown in fig. 4, a graph of tracking a terminal position of a master-slave device obtained by using the master-slave hybrid mapping method provided by the present invention is shown, and it can be seen from fig. 4 that, after using the master-slave hybrid mapping method provided by the present invention, a tracking error between the master and the slave is small. As can be seen from fig. 4, in the process of moving from the negative X-axis direction to the positive X-axis direction, the first operation mode is used to perform the improved joint space mapping corresponding to the first operation mode, so that the large-range fast moving operation is realized. And then switching to a second operation mode, wherein the mode adopts incremental operation space mapping, and the purpose is slow refinement operation, so that the consistency of the change of the master end and the slave end in the aspect of position tracking is obvious. In addition, when the two modes are switched, sudden change or jump does not occur on the position, so that the invention also can realize continuous smooth switching and has smaller integral tracking error.
In summary, according to the master-slave hybrid mapping method provided by the present invention, the slave executes the corresponding mapping method according to the mode selected by the master under different stages and specific task requirements; the corresponding mapping method in the first mode can ensure that the posture of the master-slave end equipment is consistent while the large-range operation of the man-machine interaction system is realized; the corresponding mapping method in the second mode ensures that the man-machine interaction system can realize refined operation and continuous and smooth switching of the position and the posture. Generally, the hybrid mapping method for the master end and the slave end provided by the invention solves the defect that the existing scheme cannot realize smooth continuous switching, realizes smooth continuous operation during switching of different motion states on the basis of considering large-range positioning and fine operation, and greatly improves the operation experience of users.
Examples 2,
A slave device, which maps the state information of a master device by using the master-slave hybrid mapping method provided in embodiment 1 of the present invention.
The related technical scheme is the same as embodiment 1, and is not described herein.
Examples 3,
A human-computer interaction system, comprising: a master device, a communication device, and a slave device provided in embodiment 2 of the present invention.
The main terminal equipment is used for recording the motion trail of the tail end of the equipment and taking the sampled motion trail as an input signal of the human-computer interaction system;
the slave end equipment is used for receiving an input signal sent by the master end equipment, mapping the state information of the master end equipment by adopting the master-slave end hybrid mapping method provided by the embodiment 1 of the invention, controlling the slave end equipment based on the mapping result, and recording the real-time motion track of the slave end equipment as an output signal of the human-computer interaction system;
the communication equipment is used for carrying out information interaction between the master-slave end equipment;
the related technical scheme is the same as that of embodiment 1 and embodiment 2, and is not described herein.
Examples 4,
A machine-readable storage medium storing machine-executable instructions which, when invoked and executed by a processor, cause the processor to implement a master-slave hybrid mapping method as provided in embodiment 1 of the present invention.
The related technical scheme is the same as embodiment 1, and is not described herein.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (10)
1. A master-slave hybrid mapping method for a human-computer interaction system is characterized by comprising the following steps: the slave end executes a corresponding mapping method according to a mode selected by the master end at different stages and under specific task requirements; the modes of the human-computer interaction system comprise a first mode and a second mode;
the mapping method corresponding to the first mode comprises the following steps: the joint angle values of the main end shafts input at each moment are respectively subjected to the following operations: maximum ratio mapping is respectively carried out on the joint angle values of the front three shafts of the main end to obtain the joint angle values of the front three shafts of the slave end, and then a rotation matrix of the front three shafts of the slave end is obtained; based on the consistency of the rotation matrixes of the tail ends of the master and slave end equipment, the rotation matrixes of the front three shafts of the slave end are combined to calculate to obtain the rotation matrixes of the rear three shafts of the slave end, and the joint angle values of the rear three shafts of the slave end are obtained through inverse solution, so that the mapping result of the joint angle values of each shaft of the slave end is obtained;
the mapping method corresponding to the second mode comprises the following steps: mapping the change amount of the tail end position of the main end from the moment of the switching point to the current moment according to a preset proportion to obtain the change amount of the tail end position of the slave end at the current moment, so as to obtain a mapping result of the tail end position of the slave end at the current moment; meanwhile, performing the same rotation transformation on the postures of the slave terminals based on the rotation matrix of the postures of the master terminals from the moment of the switching point to the current moment, thereby obtaining the mapping result of the postures of the slave terminals at the current moment; the switching point is a switching point when the first mode is switched to the second mode.
2. The master-slave hybrid mapping method according to claim 1, wherein the mapping method in the first mode comprises:
respectively mapping the joint angle values of the front three shafts of the main end in the maximum proportion to obtain the joint angle values of the front three shafts of the slave end;
obtaining a rotation matrix of the front secondary three-axis through positive kinematics calculation according to the joint angle values of the front secondary three-axis and a DH parameter model of the front secondary three-axis;
based on the consistency of the tail end rotation matrixes of the master end equipment and the slave end equipment, the rotation matrixes of the front three shafts of the slave end are combined to calculate to obtain the rotation matrix of the rear three shafts of the slave end;
and obtaining the joint angle values of the slave end rear three shafts through inverse kinematics and inverse solution based on the rotation matrix of the slave end rear three shafts and the DH parameter model of the slave end rear three shafts, thereby obtaining the mapping result of the joint angle values of each shaft of the slave end.
3. A master-slave hybrid mapping method according to claim 1 or 2, characterized in that the rotation matrix of the slave-slave rear triaxial
Comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,
a rotation matrix of the front three axes of the slave end;
is a rotation matrix of all axes of the main end.
4. A master-slave hybrid mapping method according to claim 1 or 2, characterized in that the joint angle value of the ith axis in the front three slave axes
Comprises the following steps:
wherein the content of the first and second substances,
the maximum joint angle value of the ith axis in the front three axes is obtained;
the minimum joint angle value of the ith axis in the front three axes is obtained;
the maximum joint angle value of the ith axis in the front three axes of the main end is obtained;
the minimum joint angle value of the ith axis in the front three axes of the main end is obtained;
the joint angle value of the ith axis in the front three axes of the main end is obtained.
5. The master-slave hybrid mapping method according to claim 1, wherein the mapping result of the current time slave end position is:
wherein the content of the first and second substances,
is the slave terminal position at the moment of switching point; k is a preset scaling factor;
the position of the tail end of the main end at the current moment;
the slave end position at the time of the switching point.
6. The master-slave hybrid mapping method according to claim 1, wherein the method for obtaining the mapping result of the current-time slave-end attitude comprises: based on the consistency of the tail end rotation matrixes of the master end equipment and the slave end equipment, the rotation matrix of the tail end posture of the master end from the switching point time to the current time is combined, the rotation matrix of the tail end posture of the slave end from the switching point time to the current time is obtained through calculation, the increment of the tail end posture of the slave end from the switching point time to the current time is obtained, and then the mapping result of the tail end posture of the slave end at the current time is obtained through calculation according to the tail end posture of the slave end at the switching point time.
7. The master-slave hybrid mapping method of claim 6, wherein the rotation matrix from the switching point time to the current time from the end-to-end attitude is:
wherein, the first and the second end of the pipe are connected with each other,
the rotation matrix of the slave end position posture at the moment of switching point;
a rotation matrix of the pose of the tail end of the main end at the moment of switching points;
and the rotation matrix from the switching point moment to the main end terminal pose at the current moment is obtained.
8. A slave device, characterized in that the master device uses the master-slave hybrid mapping method according to any one of claims 1 to 7 to map the status information of the master device.
9. A human-computer interaction system, comprising: a master device, a communication device, and the slave device of claim 8.
10. A machine-readable storage medium having stored thereon machine-executable instructions which, when invoked and executed by a processor, cause the processor to implement the master-slave hybrid mapping method of any of claims 1-7.
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| CN117017507A (en) * | 2023-10-09 | 2023-11-10 | 华中科技大学同济医学院附属协和医院 | Precise master-slave control system and method for puncture operation robot |
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| CN117017507A (en) * | 2023-10-09 | 2023-11-10 | 华中科技大学同济医学院附属协和医院 | Precise master-slave control system and method for puncture operation robot |
| CN117017507B (en) * | 2023-10-09 | 2023-12-19 | 华中科技大学同济医学院附属协和医院 | Precise master-slave control system of puncture operation robot |
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