CN116572250A - Teleoperation force feedback control method and system for switching of electric robot - Google Patents
Teleoperation force feedback control method and system for switching of electric robot Download PDFInfo
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- CN116572250A CN116572250A CN202310709320.3A CN202310709320A CN116572250A CN 116572250 A CN116572250 A CN 116572250A CN 202310709320 A CN202310709320 A CN 202310709320A CN 116572250 A CN116572250 A CN 116572250A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000012636 effector Substances 0.000 claims abstract description 69
- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 238000012423 maintenance Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 26
- 230000008569 process Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 14
- 230000001133 acceleration Effects 0.000 claims description 12
- 239000011159 matrix material Substances 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims 1
- 230000000007 visual effect Effects 0.000 description 7
- 208000003464 asthenopia Diseases 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a teleoperation force feedback control method and a teleoperation force feedback control system for switching an electric robot, wherein the method comprises the following steps: s1, acquiring a basic image of remote switching operation, and identifying an operation target and a non-operation target for maintenance of an end effector; s2, acquiring motion information, collision information and/or grip strength information of the end effector; s3, determining stress information of the end effector according to the motion information, the collision information and/or the grip strength information; and S4, controlling a three-dimensional force feedback control handle of the teleoperation end to provide feedback force corresponding to the stress information for operation and maintenance workers according to the stress information. Compared with the prior art, the invention has the advantages of safety and reliability.
Description
Technical Field
The invention relates to the technical field of live working robots, in particular to a teleoperation force feedback control method and system for switching of an electric robot.
Background
With the gradual development of live working robots, the control performance and safety requirements in a live working environment cannot be met by the traditional operation of a man-machine co-located insulation bin. Heretofore, an operation and maintenance person can remotely control a live working robot of the robot through a main operator, so that the isolation between the operation person and a high-voltage electric field can be ensured; during remote control operation, operation and maintenance personnel monitor the operation process according to the operation scene monitoring system, so that the operation safety is improved. However, when the live working robot is used for precisely positioning switching operation, such as switching between cold and hot standby, closing a ground switching, fixing a switching knife and the like, whether the robot is operated in place is mainly judged by observing an operation environment image (including a real-time image and a 3D modeling image), whether the operation precision meets the operation requirement is difficult to judge, and operation and maintenance personnel can better ensure the safe and effective operation and maintenance only by receiving stress information of an end effector and an operation target at an operation end.
Currently, in the process of remotely controlling the switching operation, only visual images can be provided for the control end, which leads to excessive dependence of operators at the control end on the visual images and easy generation of visual fatigue. Moreover, due to the deviation of the visual images, misoperation of the control end manipulator can be caused, so that the working efficiency of the manipulator can be reduced, and accidents can be caused. For example, the control end manipulator remotely controls the robot to perform switching operation according to the visual image, and when the operation tool is in contact with the high-voltage cabinet body, if the operation tool is in friction with the high-voltage cabinet body, the manipulator cannot continuously control the robot according to the visual image, so that the working efficiency of the manipulator is reduced, and the hidden danger of safety accidents is generated.
Therefore, there is an urgent need to provide a teleoperation force feedback control method and system for switching an electric robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a teleoperation force feedback control method and a teleoperation force feedback control system for switching an electric robot.
The aim of the invention can be achieved by the following technical scheme:
according to a first aspect of the present invention, there is provided a teleoperational force feedback control method for switching over an electric robot, the method comprising the steps of:
s1, acquiring a basic image of remote switching operation, and identifying an operation target and a non-operation target for maintenance of an end effector;
s2, a force feedback detection module acquires motion information, collision information and/or grasping force information of the end effector;
step S3, stress information of the end effector is determined based on the motion information, the collision information and/or the grip strength information;
and step S4, based on the stress information, controlling a three-dimensional force feedback control handle (1) of the teleoperation end to provide feedback force corresponding to the stress information for operation and maintenance workers.
Preferably, the motion information is an operation speed of the end effector, and the expression is:
v t+1 ＝(1-γ)(X·v t +Y·F)+γv t
wherein V is t+1 For the end effector speed at the time t+1, gamma is a weight coefficient, the weight of the current end effector speed change is represented, and an X matrix represents the dynamic change rule of the end effector speed in the motion process, V t For the speed of the end effector at the moment t, the Y matrix is the influence of damping and friction factors of the mechanical arm on the speed in the motion process, and F is the control input force of the three-dimensional force feedback handle.
Preferably, the collision information includes a collision resistance force generated on the three-dimensional force feedback control handle when the end effector enters the restraining region, expressed as:
wherein f is a collision-retarding force, alpha is a constant, d i D is the distance between the position of the end effector and the non-working object max Is of margin value, P i The nodes closest to the non-job target are the end effectors.
Preferably, the grip strength information specifically includes:
touch sensors configured on the end effector device detect updated grip information in real-time and automatically and maximally limit grip sigma max Comparing;
if the grip strength sigma is greater than the maximum limit grip strength sigma max At this time, only sigma is applied to the working end max Is operated and maintained by the force of the (a);
the grasping force sigma expression corresponding to the switching pushing handcart link is as follows:
where m is the mass of the tool, a is the acceleration of the tool, μ is the coefficient of friction between the tool and the work object, θ is the angle of operation, I is the moment of inertia of the work object, α is the angular acceleration of the work object, and r is the radius of the work object.
According to a second aspect of the present invention, there is provided a system based on the teleoperation force feedback control method for switching an electric robot, the system comprising a three-dimensional force feedback control handle, and a terminal control subsystem connected to the three-dimensional force feedback control handle through a data communication module; the three-dimensional force feedback control handle comprises a three-dimensional force feedback handle position information acquisition module, a three-dimensional force feedback handle control board and a three-dimensional force feedback motor driving module; the terminal control subsystem comprises a data display module, an actual mechanical arm control module, a force feedback detection module and a force feedback calculation module;
the three-dimensional force feedback handle position information acquisition module acquires position information, and the position information is transmitted to the terminal control subsystem through the data communication module and displayed on the data display module; the stress information in the end effector is transmitted to a three-dimensional force feedback motor driving module through a data communication module, and meanwhile, a force feedback detection module provides force feedback detection service for the end effector and acquires a measurement feedback value; the force feedback calculation module calculates the feedback force in real time and transmits the feedback force to the three-dimensional force feedback handle control board through the data communication module, and the three-dimensional force feedback handle control board drives the three-dimensional force feedback motor driving module to provide real-time force feedback.
Preferably, the three-dimensional force feedback handle position information acquisition module comprises a gyroscope, an accelerometer and a position information calculation sub-module;
and acquiring the angular speed and the acceleration of the three-dimensional force feedback control handle according to the gyroscope and the accelerometer, and calculating the movement angle position information of the three-dimensional force feedback control handle through the position information calculating submodule.
Preferably, the three-dimensional force feedback motor driving module sends out instructions according to the edge side end effector and the operation environment of the terminal control subsystem, the instructions are transmitted to the three-dimensional force feedback handle control board through the data communication module, and the three-dimensional force feedback motor is driven and controlled by controlling the position, the speed and the acceleration parameters of the servo motor.
Preferably, the force feedback calculation module calculates the feedback force of the three-dimensional force feedback control handle in real time according to the motion information, collision information and grip force information of the end effector, and the terminal control subsystem transmits the feedback force value to the three-dimensional force feedback handle control board through the data communication module to drive the three-dimensional force feedback motor driving module to output.
Preferably, the force feedback detection module acquires motion information, collision information and/or grip force information of the end effector;
determining an operating speed of the end effector during the operation based on the motion information;
based on the collision information, determining whether collision occurs between the actuator and the dangerous target in the working process;
and determining whether the actuator accords with a set maximum grip range in the working process based on the grip information.
Preferably, the data communication module realizes data communication between the three-dimensional force feedback handle control board and the terminal control subsystem through an Ethernet communication protocol, and the serial port parameters are configured by the terminal control subsystem.
Compared with the prior art, the invention has the following advantages:
1) When the electric robot is operated to perform tasks such as switching, the invention can provide feedback force corresponding to stress information of the end effector for operation and maintenance workers, so that a user can feel stress conditions of the end effector, the dependence degree of the user on visual images is reduced, and the operation and maintenance workers are prevented from generating visual fatigue; and the feedback force is directly provided for operation and maintenance workers, so that misoperation of the operation and maintenance workers caused by deviation of visual images can be avoided, the working efficiency of the operation and maintenance workers can be improved, the operation safety can be improved, and the operation and maintenance workers can have experience of on-site operation.
2) Monitoring and feeding back motion information, collision information, grip force information and the like of the end effector, so that an operation mode and control force are timely adjusted, and stability and reliability of operation are guaranteed; the operation mode of the real-time feedback can better control dynamic changes in the operation process, realize more accurate force feedback control and avoid accidents caused by misoperation.
3) Through data transmission and information interaction between the terminal control subsystem and the three-dimensional force feedback control handle, the robot rapidly responds to instructions of an operator, and real-time performance and continuity of operation are guaranteed, so that an operation state and progress conditions are mastered better.
Drawings
FIG. 1 is a block diagram of a system architecture of the present invention;
fig. 2 is a flow chart of the method of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Examples
As shown in fig. 1, the teleoperation force feedback control system for switching over an electric robot of the present embodiment includes a three-dimensional force feedback control handle 1, and a terminal control subsystem 3 connected to the three-dimensional force feedback control handle 1 through a data communication module 2;
the three-dimensional force feedback control handle 1 comprises a three-dimensional force feedback handle position information acquisition module 11, a three-dimensional force feedback handle control board 12 and a three-dimensional force feedback motor driving module 13; the terminal control subsystem 3 comprises a data display module 31, an actual mechanical arm control module 32, a force feedback detection module 32 and a force feedback calculation module 33;
the position information acquired by the three-dimensional force feedback handle position information acquisition module 11 is transmitted to the terminal control subsystem 3 through the data communication module 2 and is displayed on the data display module 31;
the stress information in the end effector is transmitted to the three-dimensional force feedback motor driving module 13 through the data communication module 2, and meanwhile, the force feedback detection module 32 provides force feedback detection service for the end effector and acquires a measurement feedback value;
the force feedback calculation module 33 calculates the feedback force in real time and transmits the feedback force to the three-dimensional force feedback handle control board 1 through the data communication module 2, and the three-dimensional force feedback handle control board 12 drives the three-dimensional force feedback motor driving module 13 to provide real-time force feedback.
The three-dimensional force feedback handle position information acquisition module 11 comprises a gyroscope, an accelerometer and a position information calculation sub-module;
and acquiring the angular velocity and the acceleration of the three-dimensional force feedback control handle 1 according to the gyroscope and the accelerometer, and calculating the movement angle position information of the three-dimensional force feedback control handle 1 through the position information calculating submodule.
The three-dimensional force feedback motor driving module 13 sends out instructions according to the edge side end effector and the operation environment of the terminal control subsystem 3 by an upper computer, the instructions are transmitted to the three-dimensional force feedback handle control panel 12 through the data communication module 2, and the three-dimensional force feedback motor is driven and controlled by controlling the position, the speed and the acceleration parameters of the servo motor.
The force feedback calculation module 33 calculates the feedback force of the three-dimensional force feedback control handle 1 in real time according to the motion information, collision information and gripping force information of the end effector, and the feedback force value is transmitted to the three-dimensional force feedback handle control board 12 by the terminal control subsystem 3 through the data communication module 2 to drive the three-dimensional force feedback motor driving module 13 to output.
The force feedback detection module 32 obtains information including motion information, impact information, and/or grip information of the end effector;
determining an operating speed of the end effector during the operation based on the motion information;
based on the collision information, determining whether collision occurs between the actuator and the dangerous target in the working process;
and determining whether the actuator accords with a set maximum grip range in the working process based on the grip information.
The data communication module 2 realizes data communication between the three-dimensional force feedback handle control board 12 and the terminal control subsystem 3 through an Ethernet communication protocol, and serial port parameters are configured by the terminal control subsystem 3.
Next, as shown in fig. 2, the present embodiment provides a method for the aforementioned teleoperated force feedback control system for switching an electric robot, the method including the steps of:
s1, acquiring a basic image of remote switching operation, and identifying an operation target and a non-operation target for maintenance of an end effector;
step S2, the force feedback detection module 32 acquires motion information, collision information and/or grip force information of the end effector;
step S3, stress information of the end effector is determined based on the motion information, the collision information and/or the grip strength information;
and S4, controlling the three-dimensional force feedback control handle 1 of the teleoperation end to provide feedback force corresponding to the stress information for operation and maintenance workers based on the stress information.
The motion information is the running speed of the end effector, and the expression is:
v t+1 ＝(1-γ)(X·v t +Y·F)+γv t
wherein V is t+1 For the end effector speed at the time t+1, gamma is a weight coefficient, the weight of the current end effector speed change is represented, and an X matrix represents the dynamic change rule of the end effector speed in the motion process, V t For the speed of the end effector at the moment t, the Y matrix is the influence of damping and friction factors of the mechanical arm on the speed in the motion process, and F is the control input force of the three-dimensional force feedback handle.
The constant matrix X is specifically as follows:
t is the time interval, M is the mass of the mechanical arm, and epsilon is the damping coefficient.
The matrix Y is specifically as follows:
Y＝E 6×6 -A)·ε -1
E 6×6 is a 6 x 6 identity matrix.
The collision information includes a collision resistance force generated on the three-dimensional force feedback control handle 1 when the end effector enters the restraining region, expressed as:
wherein f is a collision-retarding force, alpha is a constant, d i D is the distance between the position of the end effector and the non-working object max Is of margin value, P i The nodes closest to the non-job target are the end effectors.
Set as d i The value of (2) exceeds d max When the end effector receives a reaction force of 0, interference with the free traction and guiding clamp functions is avoided.
If the end effector collides, the distance d between the end effector position and the non-working object can be measured i . If d i Equal to 0, when the end effector has collided. d, d i Is realized by the following method:
wherein r is the distance detected by the laser radar, H is the height of the end effector, H is the height of the laser radar, and beta is the included angle between the laser beam emitted by the laser radar and the ground.
When the end effector collides with the dangerous target, the end effector is constrained in 4 degrees of freedom except for forward and backward movement and rotation, so that the end effector leaves the non-work target first, and then other joints of the mechanical arm are controlled to move from a starting point to an ending point along a path area.
The grip strength information is specifically:
touch sensors configured on the end effector device detect updated grip information in real-time and automatically and maximally limit grip sigma max Comparing;
if the grip strength sigma is greater than the maximum limit grip strength sigma max At this time, only sigma is applied to the working end max Is operated and maintained by the force of the (a);
the grasping force sigma expression corresponding to the switching pushing handcart link is as follows:
where m is the mass of the tool, a is the acceleration of the tool, μ is the coefficient of friction between the tool and the work object, θ is the angle of operation, I is the moment of inertia of the work object, α is the angular acceleration of the work object, and r is the radius of the work object.
Table 1 below shows the task sigma at each stage of the switching operation max Parameters.
TABLE 1
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. A teleoperation force feedback control method for switching an electric robot is characterized by comprising the following steps:
s1, acquiring a basic image of remote switching operation, and identifying an operation target and a non-operation target for maintenance of an end effector;
s2, acquiring motion information, collision information and/or grip strength information of the end effector;
s3, determining stress information of the end effector according to the motion information, the collision information and/or the grip strength information;
and S4, controlling a three-dimensional force feedback control handle of the teleoperation end to provide feedback force corresponding to the stress information for operation and maintenance workers according to the stress information.
2. The teleoperation force feedback control method for switching an electric robot according to claim 1, wherein the motion information is an operation speed of an end effector, and the expression is:
v t+1 ＝(1-γ)(X·v t +Y·F)+γv t
wherein V is t+1 For the end effector speed at the time t+1, gamma is a weight coefficient, the weight of the current end effector speed change is represented, and an X matrix represents the dynamic change rule of the end effector speed in the motion process, V t For the speed of the end effector at the moment t, the Y matrix is the influence of damping and friction factors of the mechanical arm on the speed in the motion process, and F is the control input force of the three-dimensional force feedback handle.
3. The teleoperation force feedback control method for switching an electric robot according to claim 1, wherein the collision information includes a collision blocking force generated on a three-dimensional force feedback control handle when the end effector enters a constraint area, expressed as:
wherein f is a collision-retarding force, alpha is a constant, d i D is the distance between the position of the end effector and the non-working object max Is of margin value, P i The nodes closest to the non-job target are the end effectors.
4. The teleoperation force feedback control method for switching an electric robot according to claim 1, wherein the grip force information specifically includes:
touch sensors configured on the end effector device detect updated grip information in real-time and automatically and maximally limit grip sigma max Comparing;
if the grip strength sigma is greater than the maximum limit grip strength sigma max At this time, only sigma is applied to the working end max Is operated and maintained by the force of the (a);
the grasping force sigma expression corresponding to the switching pushing handcart link is as follows:
where m is the mass of the tool, a is the acceleration of the tool, μ is the coefficient of friction between the tool and the work object, θ is the angle of operation, I is the moment of inertia of the work object, α is the angular acceleration of the work object, and r is the radius of the work object.
5. A system based on the teleoperation force feedback control method for switching an electric robot according to any one of claims 1 to 4, characterized in that it comprises a three-dimensional force feedback control handle (1) and a terminal control subsystem (3) connected to the three-dimensional force feedback control handle (1) by means of a data communication module (2); the three-dimensional force feedback control handle (1) comprises a three-dimensional force feedback handle position information acquisition module (11), a three-dimensional force feedback handle control board (12) and a three-dimensional force feedback motor driving module (13); the terminal control subsystem (3) comprises a data display module (31), a force feedback detection module (32) and a force feedback calculation module (33);
the three-dimensional force feedback handle position information acquisition module (11) acquires position information, and the position information is transmitted to the terminal control subsystem (3) through the data communication module (2) and displayed on the data display module (31); the stress information in the end effector is transmitted to a three-dimensional force feedback motor driving module (13) through a data communication module (2), and meanwhile, a force feedback detection module (32) provides force feedback detection service for the end effector and acquires a measurement feedback value; the force feedback calculation module (33) calculates the feedback force in real time and transmits the feedback force to the three-dimensional force feedback handle control board (12) through the data communication module (2), and the three-dimensional force feedback handle control board (12) drives the three-dimensional force feedback motor driving module (13) to provide real-time force feedback.
6. The system of claim 5, wherein the three-dimensional force feedback handle position information acquisition module (11) comprises a gyroscope, an accelerometer, and a position information calculation sub-module; and acquiring the angular speed and the acceleration of the three-dimensional force feedback control handle (1) according to the gyroscope and the accelerometer, and calculating by a position information calculation sub-module to obtain the movement angle position information of the three-dimensional force feedback control handle (1).
7. The system according to claim 5, wherein the three-dimensional force feedback motor driving module (13) sends out instructions from the upper computer according to the edge side end effector and the operation environment of the terminal control subsystem (3), the instructions are transmitted to the three-dimensional force feedback handle control board (12) through the data communication module (2), and the three-dimensional force feedback motor is driven and controlled by controlling the position, the speed and the acceleration parameters of the servo motor.
8. The system according to claim 5, wherein the force feedback calculation module (33) calculates the feedback force of the three-dimensional force feedback control handle (1) in real time according to the motion information, the collision information and the grasping force information of the end effector, and the feedback force value is transmitted to the three-dimensional force feedback handle control board (12) by the terminal control subsystem (3) through the data communication module (2) to drive the three-dimensional force feedback motor driving module (13) to output.
9. The system of claim 5, wherein the force feedback detection module (32) obtains information including motion information, collision information, and/or grip information of the end effector;
determining an operating speed of the end effector during the operation based on the motion information;
based on the collision information, determining whether collision occurs between the actuator and the dangerous target in the working process;
and determining whether the actuator accords with a set maximum grip range in the working process based on the grip information.
10. The system of claim 5, wherein the data communication module (2) communicates data between the three-dimensional force feedback handle control board (12) and the terminal control subsystem (3) via an ethernet communication protocol, and the serial port parameters are configured by the terminal control subsystem (3).
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| CN202310709320.3A CN116572250A (en) | 2023-06-14 | 2023-06-14 | Teleoperation force feedback control method and system for switching of electric robot |
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