CN117773906A - Singular avoidance method, device and equipment of master-slave operation type robot - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004590 computer program Methods 0.000 claims abstract description 26
- 238000013459 approach Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims description 9
- 239000012636 effector Substances 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000002478 hand joint Anatomy 0.000 description 2
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- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000012084 abdominal surgery Methods 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
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Abstract
The application relates to the technical field of robot motion control, and provides a singular avoidance method, a singular avoidance device, computer equipment, a storage medium and a computer program product of a master-slave operation type robot, which can avoid reaching a singular configuration from hands. In the application, the master-slave operation robot comprises a master hand and a slave hand, the master hand controls the slave hand to move, and after the singular configuration of the slave hand is determined, when the actual configuration of the slave hand approaches the singular configuration of the slave hand, the master hand generates virtual resistance to avoid the slave hand from reaching the singular configuration.
Description
Technical Field
The present application relates to the field of robot motion control technology, and in particular, to a singular avoidance method, apparatus, computer device, storage medium, and computer program product for a master-slave operation robot.
Background
The master-slave manipulator robot includes a master hand and a slave hand, and an operator can control the slave hand by manipulating the master hand, and based on this characteristic, the master-slave manipulator robot is gradually being applied to medical surgery. In the operation process, an operator controls the movement of the slave hand by manipulating the master hand, and the robot slave hand has a singular configuration in the movement process, if the slave hand is in the singular configuration, the joints of the slave hand can be mutated in a large range, and the safety of the operation is affected. Therefore, it is necessary to avoid the surgical robot from the singular configuration of the hand.
In the prior art, the movement of the robot usually has a preset path, only the movement path needs to be ensured to avoid the singular configuration, and the slave hand of the operation robot moves irregularly according to the control of the master hand in the operation process, so that the movement path is difficult to avoid.
Disclosure of Invention
Based on this, it is necessary to provide a singular avoidance method, apparatus, computer device, storage medium and computer program product of a master-slave operation robot in view of the above technical problems.
The application provides a singular avoidance method of a master-slave operation type robot, wherein the master-slave operation type robot comprises a master hand and a slave hand, the master hand controls the movement of the slave hand, and the method comprises the following steps:
determining a singular configuration of the slave hand;
when the actual configuration of the slave hand approaches the singular configuration of the slave hand, the master hand generates a virtual resistance to avoid the slave hand reaching the singular configuration.
The application provides a singular evasion device of master-slave operation formula robot, master-slave operation formula robot includes master hand and slave hand, master hand control the motion of slave hand, the device includes:
a singular configuration determining module for determining a singular configuration of the slave hand;
and the avoidance module is used for generating virtual resistance by the master hand when the actual configuration of the slave hand approaches to the singular configuration of the slave hand so as to avoid the slave hand from reaching the singular configuration.
The present application provides a computer device comprising a memory storing a computer program and a processor executing the above method.
The present application provides a computer readable storage medium having stored thereon a computer program for execution by a processor of the above method.
The present application provides a computer program product having a computer program stored thereon, the computer program being executed by a processor to perform the above method.
In the singular avoidance method, the apparatus, the computer device, the storage medium and the computer program product of the master-slave operation robot, after the singular configuration of the slave hand is determined, when the actual configuration of the slave hand approaches the singular configuration of the slave hand, the virtual resistance is fed back by the master hand, so that an operator can know that the actual configuration of the slave hand approaches the singular configuration, and the virtual resistance can resist the operation of the operator on the master hand and avoid the slave hand from reaching the singular configuration.
Drawings
FIG. 1 is a flow diagram of a singular avoidance method of a master-slave robot in one embodiment;
FIG. 2a is a schematic view from a hand configuration in one embodiment;
FIG. 2b is an equivalent schematic diagram in one embodiment;
FIG. 3 is a schematic diagram of a motion path in one embodiment;
FIG. 4a is a flow chart of a singular avoidance method of a master-slave robot in another embodiment;
FIG. 4b is a flow chart of a singular avoidance method of a master-slave robot in another embodiment;
FIG. 5 is a block diagram of a singular avoidance apparatus of a master-slave operated robot in one embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.
The master-slave robot according to the present application includes a master hand and a slave hand, and the master hand controls the movement of the slave hand. When the master-slave robot is applied to the medical field, it can be used for performing a surgery, such as a laparoscopic surgery, on a patient. During the operation, a doctor operates a master hand, and the movement intention of the master hand is mapped to a slave hand, and the slave hand is used as an execution unit to perform corresponding operation. In general, in order to improve the ease of operation, the master hand and the slave hand are heterogeneous, that is, the configuration of the slave hand during movement is not in one-to-one correspondence with the configuration of the master hand, and thus, the real-time configuration of the slave hand during movement is difficult to be intuitively perceived by a doctor.
When the slave hand moves to the singular configuration, the problems of losing the degree of freedom, abrupt change of joint speed and the like are caused, and when the slave hand moves to the vicinity of the singular configuration, the tiny movement of the master hand causes the abrupt change of the joint of the slave hand in a large range, so that the flexibility of the movement of the slave hand is reduced and the operation is brought with great potential safety hazard.
Based on the method, the method is provided to avoid the slave hand from reaching the singular configuration, avoid the flexibility of the slave hand movement from being reduced, and improve the usability and safety of the master-slave operation type robot.
The method provided by the application is not limited to the configuration of the master-slave manipulator mechanical arm, namely the number of degrees of freedom and the serial-parallel connection form.
The method provided herein may be performed by a computer device, and in one embodiment, the method includes the steps shown in fig. 1:
step S101, determining the singular configuration of the slave hand.
The singular configuration is a special configuration and may include: (1) Boundary singular configurations, which occur at the boundary from the hand working space, can be avoided by preventing movement from the hand to the boundary of the accessible space; (2) The internal singular configuration, which occurs from within the working space, is typically caused by the coincidence of two or more joint axes, or by a particular end effector configuration.
Thus, further, the computer device may determine the internal singular configuration and the boundary singular configuration from the hand.
Step S102, when the actual configuration of the slave hand approaches the singular configuration of the slave hand, the master hand generates virtual resistance to avoid the slave hand reaching the singular configuration.
When the movement of the master hand is intended to bring the actual configuration of the slave hand close to the singular configuration, the master hand may generate a virtual resistance through the force feedback information with each joint of the master hand in the moment drag mode, so that the master hand operator experiences the virtual resistance. In order for the master hand operator to feel the virtual resistance, the virtual resistance may be distributed to the joints of the master hand, with the virtual resistance distributed to the joints of the master hand being greater as the actual configuration of the slave hand approaches the singular configuration, such that the force required by the master hand operator to drag the joints of the master hand also becomes greater. Wherein the virtual resistance force may be distributed uniformly to the joints of the master hand.
In the singular avoidance method of the master-slave operation robot, after the singular configuration of the slave hand is determined, when the actual configuration of the slave hand approaches the singular configuration of the slave hand, the virtual resistance is fed back by the master hand, so that an operator can know that the actual configuration of the slave hand approaches the singular configuration, and the virtual resistance can resist the operation of the operator on the master hand and avoid the slave hand from reaching the singular configuration.
In one embodiment, the step of determining the internal singular configuration from the hand may comprise: in the process of moving the slave hand around the telecentric point, the movement of the slave hand is equivalent to the movement at the telecentric point, and an analytical formula of the singular configuration judgment condition of the slave hand is obtained; the angular position of each joint of the slave hand corresponding to the analytic expression equal to zero is taken as the internal singular position of the slave hand. When the surgical robot performs surgery, a poking card needs to be inserted into a surgical site, the surgical end effector enters a patient body through the poking card to perform surgery, the surgical end effector is carried on a slave hand, the movement of the slave hand can be controlled by operating a master hand, and further the surgical operation of the surgical end effector on the patient is realized, the contact part of the poking card and a human body is called a telecentric point, and the surgical end effector is kept motionless all the time in the surgical process.
As shown in FIG. 2a, the slave hand joint J moves around the telecentric point from the hand l1 、J l2 And J l3 The connecting rods are matched with each other, so that the slave hand end effector moves around the telecentric point; wherein J is l1 And J l2 The connecting rod between the two can be called active motion connecting rod, and is composed of J l1 Driving; j (J) l2 And J l3 The connecting rod between the two can be called as a passive movement connecting rod, and is composed of J l2 Driving; j (J) l3 The latter linkage is a slave hand end effector, also referred to as a passive motion linkage. From J l3 And (5) driving. In abdominal surgery, the slave hand moves around a body-abdomen opening point, which is considered a telecentric point.
The mechanism corresponding to the motion from hand around the telecentric point can be referred to as telecentric motion structure, and in some cases, the telecentric motion mechanism is a parallelogram mechanism, as shown in fig. 2a, J l1 、J l2 、J l3 And the quadrangle formed by the telecentric point is a parallelogram. If all degrees of freedom of the parallelogram mechanism are used as active degrees of freedom to participate in singular configuration analysis at this time, the joint (J) driving the passive motion connecting rod l2 And J l3 ) With joints (J) driving actively-moving links l1 ) The linear correlation in motion is unfavorable for the analysis of singular configurations, and corresponding equivalent processing can be performed at the moment, wherein the principle of the equivalent processing is as follows: the equivalent front and back kinematic characteristics are not changed. In this embodiment, the equivalent method is to equivalent the parallelogram mechanism motion to an independent motion at the point of telecentricity.
Specifically: setting an equivalent coordinate system at the telecentric point so that the reference coordinate system of the slave hand is converted to the end coordinate system of the slave hand via the equivalent coordinate system, and the equivalent coordinate system is converted to the end coordinate system via the first joint coordinate system, the second joint coordinate system and the third joint coordinate system of the parallelogram mechanism in sequence; and setting an equivalent coordinate system at the telecentric point, and equivalent motion of the slave hand at the telecentric motion mechanism to motion at the telecentric point.
The equivalent manner described above is exemplarily described in connection with fig. 2 b: before the equivalent, the pose conversion matrix of the tail end coordinate system { t } of the slave hand relative to the reference coordinate system { b } of the slave hand is obtained by the positive kinematics of the robot and is as followsWherein (1)>Corresponding to the transformation from the reference coordinate system of the hand to the first joint coordinate system,/->Corresponding to the conversion of the first joint coordinate system into the second joint coordinate system, (-)>Corresponding to the second joint coordinate system to a third joint coordinate system, (-), respectively>Converting the coordinate system corresponding to the third joint to the coordinate system of the tail end of the slave hand; after the equivalence, the pose conversion matrix of the terminal coordinate system { t } relative to the reference coordinate system { b } is +.>Substituting the parameters of the connecting rod to calculate can obtain the equivalent kinematic characteristics before and after the equivalent, and the principle of equivalent processing is satisfied.
After the equivalent processing, the same analysis means of serial robots can be adopted, and the Jacobian matrix or the line geometric mode is utilized to perform coordinate system conversion analysis between a reference coordinate system and an end coordinate system, so as to obtain an analysis formula of the singular configuration judgment condition of the hand; the analytical type is related to the joint angle of the slave hand and fixed configuration parameters (such as the length of a connecting rod); the corresponding slave hand joint angular position when the analytic formula is equal to zero is taken as the internal singular position of the slave hand.
The states of the master and slave hand drives each include a torque mode, a speed mode, and a position mode. In the moment mode, the movement of the master hand and the slave hand can be realized through dragging of external force, and the speed mode and the position mode realize the movement of the master hand and the slave hand through inputting speed values and position values. In order to realize the dragging of the master hand by the master hand operator such as a doctor and further control the movement of the slave hand during the operation, it is necessary that each joint of the master hand is in a moment mode and each joint of the slave hand is in a position mode. The displacement increment and gesture information relative to the reference coordinate system are generated at the tail end of the master hand, the information is used as the gesture input of the tail end of the slave hand relative to the reference coordinate system after mapping conversion, and the angles of all joints of the slave hand are obtained through the inverse solution of the kinematics of the mechanical arm, so that the master hand can control the slave hand.
When the hand moves to the preset range of the internal singular configuration or the boundary singular configuration represented by the analytic expression, the actual configuration of the hand can be determined to be close to the singular configuration, and at the moment, the singular configuration can be avoided. If the joints of the master hand are in the moment drag mode, the master hand can generate force feedback information to generate virtual resistance, so that a master hand operator can feel the virtual resistance, and the slave hand is prevented from reaching the singular configuration.
Wherein the step of creating a virtual resistance by the master hand may comprise: determining the proximity between the actual configuration of the slave hand and the singular configuration; determining a virtual resistance according to the proximity degree; the higher the proximity, the greater the virtual resistance.
Further, the step of determining the proximity between the actual configuration of the slave hand and the singular configuration may include: acquiring each joint angle of each joint of the slave hand in the actual configuration and each joint angle of each joint of the slave hand in the singular configuration; determining the proximity degree between the actual position and the singular position of the slave hand based on the distance value between each joint angle under the actual position and each joint angle under the singular position; wherein the smaller the distance value, the greater the virtual resistance.
After the virtual resistance is obtained, the virtual resistance can be evenly distributed to all joints of the master hand, and the dragging force of the master hand is increased because of the generation of the virtual resistance and is larger than that of the master hand in normal dragging (normally: the slave hand is out of a preset range of singular configurations).
As shown in fig. 3, the master hand moves from the initial position P1 to the target position P2, and if the master hand moves along the predetermined path a, the actual configuration of the slave hand may approach the singular configuration. Since the primary hand sampling frequency is high, the virtual impedance gradually increases during the motion of the primary hand along path a. At this time, the master operator obtains force feedback information, and the information can be used as auxiliary judgment in operation, and if the motion path is changed, the motion from the initial position P1 point to the target position P2 point can be realized if the motion path B is changed, so that the purpose of avoiding singularity in master-slave operation is achieved.
Further, the step of determining the virtual resistance according to the proximity may include: when the proximity between the actual and singular configurations of the slave hand is less than the preset value, the master hand begins to develop a virtual resistance, and the closer the actual configuration of the slave hand is to the singular configuration, the greater the virtual resistance the master hand receives.
Setting zeta represents the approaching degree between the actual position shape and the singular position shape of the slave hand, and the closer the actual position shape and the singular position shape of the slave hand are, the smaller the value of zeta is, and the larger the virtual resistance is received by the master hand. Setting a preset value as a singular threshold epsilon, wherein the singular threshold can be selected according to the following principle: the distance between the actual position and the singular position corresponding to the position where the jacobian condition number of the current actual position of the hand is larger than 2000 is taken as the singular threshold.
If the proximity is outside the singular threshold range, i.e., ζ > ε, the dominant hand virtual resistance is 0; if the proximity is within a singular threshold range, namely zeta is more than or equal to 0 and epsilon is less than or equal to epsilon, the magnitude of the virtual resistance F is inversely proportional to zeta; when ζ=0, the slave hand is in the absolute singular configuration, the virtual resistance is set to infinity for safety, which is manifested as the master hand cannot be dragged, and the master hand driver state is switched from the moment mode to the position mode.
The scaling factor k is used as a scaling factor and can be set according to actual needs.
In order to better understand the above method, an application example of the singular avoidance method of the master-slave robot of the present application is described in detail below with reference to fig. 4a and 4 b.
Step S401, a doctor operates the tail end of the main hand;
step S402, acquiring displacement increment and posture information generated by the tail end of the main hand relative to a reference coordinate system of the main hand;
step S403, obtaining a slave hand end pose instruction through master-slave mapping;
step S404, calculating the approaching degree zeta of the current actual position form and the singular position form of the slave hand;
step S405, judging whether the proximity zeta is within a singular threshold epsilon range; if the proximity ζ is not within the singular threshold ε, enter step S406, the master hand driver state is in the moment mode, control the slave hand movement, in order to realize the master-slave movement; if the proximity ζ is within the singular threshold ε, go to step S407, according to the formulaGenerating a virtual resistance; the virtual resistance force is uniformly distributed to the joints of the master hand, the doctor senses the virtual resistance force, and the auxiliary judgment during the operation is performed according to the sensed virtual resistance force (step S408). Further, when the doctor feels the virtual resistance, the doctor can know that the actual configuration of the slave hand is approaching the singular configuration, so that the slave hand can be far away from the singular configuration by the control of the master hand, and the influence on the operation process is avoided. Further, other indication modes can be adopted in the process of approaching the singular configuration from the hand, such as warning by adopting sound, light and other modes when the approaching degree of the actual configuration of the hand and the singular configuration is within the singular threshold value range, and adopting different sizes and noSounds at the same time interval indicate different proximity degrees, and the closer the actual position of the hand is to the singular position, the larger the sound is, and the shorter the sound interval time is; in addition, the intensity of the light and the frequency of the flickering can be used to indicate different degrees of proximity, the stronger the light, the faster the frequency of the flickering of the light, the closer the actual position of the hand is to the singular position.
It should be noted that the proximity ζ is within the singular threshold ε and can be represented by the mathematical expression 0 ζ ε. When the proximity of the actual configuration of the slave hand to the singular configuration is within the singular threshold range, it is further judged whether the slave hand is located in the absolute singular configuration (step S409).
When ζ is more than 0 and less than ε, the slave hand is not positioned at the absolute singular position, at the moment, each joint of the master hand is under the action of virtual impedance force, and the master hand is in a moment mode to control the slave hand to move so as to realize master-slave movement (step S411); when ζ=0, the slave hand is located at the absolute singular configuration, at this time, the virtual resistance received by each joint of the master hand is infinite, and the master-slave motion is not performed, specifically, the master-hand driver state is switched from the moment mode to the non-moment mode, and the master hand cannot be dragged due to the infinite virtual resistance received, which is represented as the master hand being not operated, and the slave hand being also not operated (step S410). When the hands reach the absolute singular configuration, the hands can be helped to leave the singular configuration with the aid of medical staff, and the corresponding surgical instruments can be taken out of the hands for surgical safety so as not to cause injury to patients.
Further, it is also possible to monitor in real time whether the slave hand leaves the absolute singular configuration, and when the slave hand leaves the absolute singular configuration, the master hand driver state is switched from the non-moment mode to the moment mode, and the process proceeds to step S405.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
In one embodiment, as shown in fig. 5, there is provided a singular avoidance apparatus of a master-slave operation robot, including:
a singular configuration determination module 501 for determining a singular configuration of the slave hand;
an avoidance module 502, configured to generate a virtual resistance by the master hand when the actual configuration of the slave hand approaches the singular configuration of the slave hand, so as to avoid the slave hand reaching the singular configuration.
In one embodiment, the singular configuration determination module 501 is further configured to determine the internal singular configuration and the boundary singular configuration from the hand.
In one embodiment, the singular configuration determining module 501 is further configured to, during the movement of the slave hand around the telecentric point, equate the movement of the slave hand to the movement at the telecentric point, and obtain an analytical formula of the singular configuration judgment condition of the slave hand; and the analysis formula is equal to the angular position of each joint of the slave hand corresponding to zero, and the angular position is taken as the internal singular position of the slave hand.
In one embodiment, the avoidance module 502 is further configured to determine a proximity between the actual configuration of the slave hand and the singular configuration; a virtual resistance is determined based on the proximity.
In one embodiment, the avoidance module 502 is further configured to obtain each joint angle of each joint of the slave hand in the actual configuration, and each joint angle of each joint of the slave hand in the singular configuration; the proximity between the actual pose of the slave hand and the singular pose is determined based on the distance values between the joint angles in the actual pose and the joint angles in the singular pose.
In one embodiment, the avoidance module 502 is further configured to generate a virtual resistance of the master hand that is greater when the proximity between the actual configuration of the slave hand and the singular configuration is less than a preset value.
For specific limitations on the singular avoidance apparatus of the master-slave robot, reference may be made to the above limitation on the singular avoidance method of the master-slave robot, and no further description is given here. All or part of each module in the singular avoidance device of the master-slave operation robot can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing singular avoidance data of the master-slave operation robot. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer equipment also comprises an input/output interface, wherein the input/output interface is a connecting circuit for exchanging information between the processor and the external equipment, and the input/output interface is connected with the processor through a bus and is called as an I/O interface for short. The computer program, when executed by the processor, implements a singular avoidance method for a master-slave operated robot.
It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the method embodiments described above when the processor executes the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the respective method embodiments described above.
In one embodiment, a computer program product is provided, on which a computer program is stored, which computer program is executed by a processor for performing the steps of the various method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A singular avoidance method of a master-slave operated robot including a master hand and a slave hand, the master hand controlling movement of the slave hand, the method comprising:
determining a singular configuration of the slave hand;
when the actual configuration of the slave hand approaches the singular configuration of the slave hand, the master hand generates a virtual resistance to avoid the slave hand reaching the singular configuration.
2. The method of claim 1, wherein the determining the singular configuration of the slave hand comprises: the internal singular configuration and the boundary singular configuration from the hand are determined.
3. The method of claim 2, wherein said determining the internal singular configuration from the hand comprises:
in the process of moving the slave hand around the telecentric point, the movement of the slave hand is equivalent to the movement at the telecentric point, and an analytic expression of the singular configuration judgment condition of the slave hand is obtained;
and the analysis formula is equal to the angular position of each joint of the slave hand corresponding to zero, and the angular position is taken as the internal singular position of the slave hand.
4. The method of claim 1, wherein the master hand generates a virtual resistance force comprising:
determining a proximity between the actual configuration of the slave hand and the singular configuration;
a virtual resistance is determined based on the proximity.
5. The method of claim 4, wherein determining the proximity between the actual pose of the slave hand and the singular pose comprises:
acquiring joint angles of the joints of the slave hand in the actual configuration and joint angles of the joints of the slave hand in the singular configuration;
the proximity between the actual pose of the slave hand and the singular pose is determined based on the distance values between the joint angles in the actual pose and the joint angles in the singular pose.
6. The method of claim 4, wherein said determining a virtual resistance based on said proximity comprises:
when the proximity between the actual and singular configurations of the slave hand is less than the preset value, the higher the proximity, the greater the virtual resistance generated by the master hand.
7. A singular avoidance apparatus of a master-slave operated robot including a master hand and a slave hand, the master hand controlling movement of the slave hand, the apparatus comprising:
a singular configuration determining module for determining a singular configuration of the slave hand;
and the avoidance module is used for generating virtual resistance by the master hand when the actual configuration of the slave hand approaches to the singular configuration of the slave hand so as to avoid the slave hand from reaching the singular configuration.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the method of any one of claims 1 to 6 when executing the computer program.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method of any one of claims 1 to 6.
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| CN202211155895.7A CN117773906A (en) | 2022-09-22 | 2022-09-22 | Singular avoidance method, device and equipment of master-slave operation type robot |
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| CN202211155895.7A CN117773906A (en) | 2022-09-22 | 2022-09-22 | Singular avoidance method, device and equipment of master-slave operation type robot |
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- 2022-09-22 CN CN202211155895.7A patent/CN117773906A/en active Pending
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