WO2022222239A1

WO2022222239A1 - Rocker handle-based remote operation control method for spatial robotic arm

Info

Publication number: WO2022222239A1
Application number: PCT/CN2021/098378
Authority: WO
Inventors: 鲁守银; 周大鹏; 王涛; 高焕兵; 高诺; 赵洪华; 汤承龙
Original assignee: 山东建筑大学
Priority date: 2021-04-19
Filing date: 2021-06-04
Publication date: 2022-10-27
Also published as: CN113084818B; CN113084818A

Abstract

A rocker handle-based remote operation control method for a spatial robotic arm, which relates to the field of robotic arm control and comprises: on the basis of the linkage of robotic arm joints, establishing a mapping between handle movements and robotic arm movements, and according to a motion signal from an input handle, acquiring joint angle information of a robotic arm for vertical, translational and rotational degrees of freedom to obtain a linkage execution signal for the robotic arm joints; on the basis of independent movement of the robotic arm joints, establishing a mapping between the handle movements and the robotic arm joints, and according to the motion signal from the input handle, acquiring angle information for a portion of the robotic arm joints to obtain an independent execution signal for the robotic arm joints; switching between the linkage of the robotic arm joints and the independent movement of the robotic arm joints to output the linkage execution signal or the independent execution signal.

Description

A remote operation control method of space manipulator based on rocker handle

technical field

The present disclosure relates to the field of robotic arm control, in particular to a remote operation control method for a space robotic arm based on a rocker handle.

Background technique

The combination of teleoperation technology (master-slave operation technology) and robotics can effectively solve the problem that existing robots are difficult to complete complex tasks. Master-slave teleoperation enables remote human participation in tasks, combining analytical capabilities with machines. It can not only solve the problem of insufficient intelligence of fully active robots caused by the immature computer technology at present, but also can replace manual work and reduce the labor intensity of manual work.

The inventors found that the currently used teleoperation methods usually use the master manipulator with the same topology as the slave manipulator but with different scales for teleoperation control; or use a multi-degree-of-freedom handle as the master manipulator to control the slave manipulator Remote operation control; some remote operation control of the space manipulator through the handle, the angular velocity of the fixed coordinate system at the end of the manipulator relative to the coordinate system of the base of the manipulator is used as the attitude control output of the handle. Although this method has clear physical meaning, there is a space for it. When controlling the pose of the end of the manipulator, it is difficult to effectively adjust the singular pose of the joint due to the singular problem caused by the complex structure; and, when solving the joint motion of the manipulator, the complex algorithm will affect the response speed of the manipulator.

SUMMARY OF THE INVENTION

The purpose of the present disclosure is to provide a remote operation control method for a space manipulator based on a rocker handle in view of the defects in the prior art, using two modes of multi-joint linkage and single-joint independent movement to simplify the teleoperation planning of the space manipulator The degree of complexity, the single-joint independent motion is used as a supplement to the joint linkage mode, and the joint singular pose problem is solved through the single-joint independent control.

The first object of the present disclosure is to provide a remote control method for a space manipulator based on a rocker handle, which adopts the following technical solutions:

Include the following steps:

Based on the linkage of the robotic arm joints, the mapping between the handle action and the robotic arm action is established, and according to the motion signal of the input handle, the joint angle information of the vertical, translational, and rotational degrees of freedom of the robotic arm is obtained, and the linkage execution signal of the robotic arm joint is obtained;

Based on the independent motion of the manipulator joints, the mapping between the handle action and the manipulator joints is established, and according to the motion signal of the input handle, the angle information of some joints of the manipulator is obtained, and the independent execution signal of the manipulator joint is obtained;

Switch between the linkage of the manipulator joint and the independent movement of the manipulator, and output the linkage execution signal or the independent execution signal to the manipulator.

Further, establish the reference Cartesian coordinate system, establish the vertical DOF mapping of the robotic arm relative to the reference coordinate system YOZ plane and the joystick handle, and establish the translational DOF mapping of the robotic arm relative to the reference coordinate system XOY plane and the joystick handle , to establish the rotational degrees of freedom mapping of the robotic arm relative to the XOZ plane of the reference coordinate system and the joystick handle.

Further, it also includes establishing a mapping between the opening and closing of the gripper of the robotic arm and the handle.

Further, according to the mapping of the motion signal of the input handle in the handle coordinate system, the joint angle information of the vertical motion, translation, and rotation degrees of freedom of the mechanical arm is obtained; wherein the handle coordinate system includes the handle pitch coordinate system, the handle yaw coordinate system and the handle roll. Coordinate System.

Further, the vertical DOF joints include a big arm pitch joint, a forearm pitch joint and a wrist pitch joint.

Further, the translational DOF joints include a lumbar swivel joint and a wrist swing joint.

Further, the rotational degree of freedom joint is a claw rotary joint.

Further, when the robotic arm joints move independently:

Establish the mapping between the X direction of the first handle coordinate system and the waist rotary joint;

Establish the mapping between the Y direction of the first handle coordinate system and the boom pitch joint;

Establish the mapping between the X direction of the second handle coordinate system and the wrist pitch joint;

Establish the mapping between the Y direction of the second handle coordinate system and the wrist swing joint.

Further, the independent action of the joints of the manipulator acts as a supplement to the linkage action of the manipulator, and independently controls some joints of the manipulator.

Further, acquiring the motion signal of the input handle includes: two-axis travel data of the first handle and two-axis travel data of the second handle.

Compared with the prior art, the advantages and positive effects of the present disclosure are:

(1) Two modes of multi-joint linkage and single-joint independent motion are used to simplify the complexity of the teleoperation planning of the space manipulator. The single-joint independent motion is used as a supplement to the joint linkage mode, and the problem of joint singular posture is solved through the single-joint independent control;

(2) The multi-joint linkage mode divides the motion of the space manipulator into three groups of vertical motion, translational motion and rotation, and decouples vertical motion, translational motion and rotation from each other, the motion control is simple and reliable, the physical meaning is clear, and it occupies resources Compared with the traditional attitude mapping method, the angle limit of the specified degrees of freedom is carried out, and there is no singular problem in the attitude motion of the space manipulator.

Description of drawings

The accompanying drawings, which form a part of the present disclosure, are used to provide a further understanding of the present disclosure, and the exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure.

1 is a schematic diagram of the structure and coordinate system of a six-degree-of-freedom manipulator in Embodiment 1 of the present disclosure;

FIG. 2 is a schematic diagram of a coordinate system of a double rocker handle in Embodiment 1 of the present disclosure.

Detailed ways

Example 1

In a typical implementation of the present disclosure, as shown in FIGS. 1-2 , a method for teleoperation control of a space manipulator based on a joystick handle is proposed.

In the multi-DOF space manipulator control method, ^R T _H =A ₁ A _2... A _i is the transformation matrix of the end of the manipulator relative to the manipulator reference coordinate system, and the degree of freedom of the manipulator is set as the vertical degree of freedom, Translational and rotational degrees of freedom.

In the Cartesian coordinate system, the degree of freedom mapping of the manipulator relative to the reference coordinate system plane and the joystick handle is established. In the established Cartesian coordinate system, the inverse kinematics analysis of the manipulator is used to set and limit the angles of each degree of freedom of the manipulator. , to complete the teleoperation planning of the space manipulator.

In this embodiment, taking a six-degree-of-freedom manipulator as an example, the six-degree-of-freedom manipulator includes six rotating joints: a waist rotating joint, a large arm pitching joint, a forearm pitching joint, a wrist pitching joint, a wrist swinging joint and Claw swivel joint.

The double joystick is used to operate the handle. The handle includes two joysticks, a switch button and a mode switch button. Each joystick has two degrees of freedom. When the mechanical arm is at the initial position, the joystick is at the zero action position.

The remote operation control method of the space manipulator based on the joystick handle includes two modes: multi-joint linkage and single-joint independent action of the manipulator. The two remote operation modes of the manipulator can be switched by the mode switch button of the joystick handle.

One of the two operation modes of the space manipulator teleoperation joint linkage mode operation control method, including the following steps:

Establish the vertical degree of freedom mapping of the six-degree-of-freedom manipulator relative to the YOZ plane of the reference coordinate system and the joystick handle.

Establish the plane degree of freedom mapping of the six-degree-of-freedom manipulator relative to the XOY plane of the reference coordinate system and the joystick handle.

Establish the rotation degree of freedom mapping of the six-degree-of-freedom manipulator relative to the XOZ plane of the reference coordinate system and the joystick handle.

Establish the mapping between the opening and closing of the 6-DOF robotic arm and the handle.

According to the output of the pitch coordinate system of the joystick handle, the joint angle information of the vertical degree of freedom of the manipulator is generated, and according to the output of the side row coordinate system of the joystick handle, the joint angle information of the translational degree of freedom of the manipulator is generated, and the scrolling degree of freedom of the manipulator is generated according to the output of the joystick handle. The output of the coordinate system generates the joint angle information of the rotational degrees of freedom of the manipulator.

After getting the position of each joint, the teleoperation control of the space manipulator can be completed.

Further, the above-mentioned vertical degrees of freedom include: a pitch joint of the forearm, a pitch joint of the forearm, and a pitch joint of the wrist.

Further, the method for establishing the vertical DOF mapping between the joystick handle and the mechanical arm is as follows:

Relative to the reference coordinate system established by the base of the manipulator, the kinematic transformation between the gripper and the base of the manipulator is ^R T _H =A ₁ A ₂ A ₃ A ₄ A ₅ A ₆

further,

Among them, the transformation matrices A ₂ , A ₃ , and A ₄ are transformation matrices of vertical motion degrees of freedom mapping.

in:

As shown in Figure 1, θ ₂ , θ ₃ , and θ ₄ are the joint angles of the forearm pitch joint, the forearm pitch joint, and the wrist pitch joint relative to the zero position of the robotic arm, respectively.

The zero position of the robot arm is the pose when θ ₂ , θ ₃ , and θ ₄ are respectively located at the middle value of the maximum value and the minimum value relative to the initial pose of the robot arm.

For example, θ _2max + θ _2min = 0°, where the range of motion of the θ ₂ , θ ₃ , and θ ₄ joints is -90° to 90°. That is, the joint angle of the initial pose is 0°.

Further, in the linkage mode, the Y direction of the No. 1 joystick handle is used to remotely control the degree of freedom of the vertical motion of the robotic arm.

Under the given initial attitude coordinate system, in the process of teleoperation, if the pose of the robotic arm is reached through the linkage mode, there are

Then θ ₂ , θ ₃ , θ ₄ can be expressed as

θ ₄ =θ ₂₃₄ -θ ₂ -θ ₃

Further, when the remote control of the robotic arm is performed by the joystick handle, the solutions θ ₂ , θ ₃ , and θ ₄ of the three degrees of freedom of the vertical motion degrees of freedom of the robotic arm may have multiple combinations. In the solution, the teleoperation of the vertical degree of freedom of the manipulator should select the minimum value of |θ ₂ |+|θ ₃ |+|θ ₄ |.

Further, ^R T _H =A ₁ A ₂ A ₃ A ₄ A ₅ A ₆ When A ₁ , A ₅ , and A ₆ remain unchanged, T ^p is the output of the vertical motion degree of freedom of the gripper of the robotic arm.

Among them, A ₁ and A ₅ are the transformation matrices of translational degrees of freedom mapping,

Among them, θ ₁ and θ ₅ are the joint angles of the waist swivel joint and the wrist pitch joint relative to the zero position of the mechanical arm, respectively.

Further, according to the above-mentioned zero position of the robot arm, the zero position of the robot arm is the pose when θ ₁ and θ ₅ are respectively located at the middle value of the maximum value and the minimum value thereof.

Further, in the linkage mode, the X direction of the No. 1 joystick handle is used to remotely control the translational degree of freedom of the robotic arm.

Further, in the teleoperation planning process of the translational degree of freedom of the manipulator, the angles relative to the initial _poses θ1 and _θ5 of the manipulator should be of the same sign, that is, relative to the initial pose coordinate system, the yaw angle _θ1 and θ ₅ should be the same positive direction, that is, clockwise relative to the z-axis of the joint coordinate system, or the same negative direction.

Among them, A ₆ is the transformation matrix of the rotational degree of freedom mapping,

Further, in the linkage mode, the X direction of the No. 2 joystick handle is used to remotely control the rotational degree of freedom of the robotic arm. Use the No. 2 joystick handle in the Y direction to perform remote control of the opening and closing of the robotic arm and the manipulator.

The multi-joint linkage mode divides the motion of the space manipulator into three groups: vertical motion, translational motion and rotation, and decouples vertical motion, translational motion and rotation from each other. The motion control is simple and reliable, the physical meaning is clear, and it occupies less resources. Compared with the traditional attitude mapping method, there is no singular problem in the attitude motion of the space manipulator by limiting the angle of the specified degrees of freedom.

Use the mode switch button on the joystick handle to switch the mode and switch to the single-joint independent action mode of the robotic arm.

One of the two operation modes of the space manipulator is the remote operation of the joint independent movement mode operation control method, as a supplement to the joint linkage mode, including the following steps:

Establish a teleoperation mapping based on the X direction of the first rocker coordinate system and the robotic arm waist rotary joint.

Establish a teleoperation mapping based on the Y direction of the first rocker coordinate system and the pitch joint of the manipulator arm.

Establish a teleoperation mapping based on the X direction of the second joystick coordinate system and the pitch joint of the manipulator wrist.

A teleoperation mapping based on the Y direction of the second remote sensing coordinate system and the swing joint of the manipulator wrist is established.

Further, the method for establishing the teleoperation mapping between the X direction of the first rocker coordinate system and the waist rotary joint of the manipulator is: when the rocker is in the initial state, the waist rotary joint of the manipulator is correspondingly located in the initial pose of the manipulator. The positive stroke of the No. 1 rocker corresponds to the positive angle rotation of the waist rotary joint of the mechanical arm, and the negative stroke corresponds to the negative angle rotation of the waist rotary joint of the mechanical arm.

The positive and negative rotary strokes of the waist rotary joints are evenly distributed in the positive and negative strokes in the X direction of the first rocker coordinate system.

Further, the method for establishing the teleoperation mapping between the Y direction of the first rocker coordinate system and the pitch joint of the manipulator arm is as follows: when the rocker is in the initial state, the pitch joint of the manipulator is correspondingly located at the initial pose of the manipulator arm. . The positive stroke in the Y direction of the No. 1 rocker corresponds to the positive angle rotation of the boom pitch joint of the robotic arm, and the negative stroke corresponds to the negative angle rotation of the boom pitch joint of the robotic arm.

The positive and negative rotation strokes of the boom pitch joint are evenly distributed in the positive and negative strokes in the Y direction of the first rocker coordinate system.

Further, the method for establishing the teleoperation mapping between the X direction of the second joystick coordinate system and the pitch joint of the wrist of the manipulator is: when the joystick is in the initial state, the pitch joint of the wrist of the manipulator is correspondingly located at the initial pose of the manipulator. . The positive stroke of the second rocker corresponds to the positive angle rotation of the wrist pitch joint of the robotic arm, and the negative stroke corresponds to the negative angle rotation of the wrist pitch joint of the robotic arm.

Wherein, the positive and negative rotation strokes of the wrist pitch joint are evenly distributed in the positive and negative strokes in the X direction of the second rocker coordinate system.

Further, the method for establishing the teleoperation mapping between the Y direction of the second rocker coordinate system and the swing joint of the wrist of the manipulator is: when the rocker is in the initial state, the swing joint of the wrist of the manipulator is correspondingly located in the initial pose of the manipulator. . The positive stroke of the second rocker corresponds to the positive angle rotation of the wrist swing joint of the mechanical arm, and the negative stroke corresponds to the negative angle rotation of the wrist swing joint of the mechanical arm.

Wherein, the positive and negative rotation strokes of the wrist swing joint are evenly distributed in the positive and negative strokes in the Y direction of the second rocker coordinate system.

Two modes of multi-joint linkage and single-joint independent motion are used to simplify the complexity of the teleoperation planning of the space manipulator. The single-joint independent motion is used as a supplement to the joint linkage mode, and the problem of joint singular posture is solved through the single-joint independent control.

The above descriptions are only preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included within the protection scope of the present disclosure.

Claims

A method for remote operation and control of a space manipulator based on a rocker handle, characterized in that it comprises the following steps:

Based on the linkage of the robotic arm joints, the mapping between the handle action and the robotic arm action is established, and according to the motion signal of the input handle, the joint angle information of the vertical, translational, and rotational degrees of freedom of the robotic arm is obtained, and the linkage execution signal of the robotic arm joint is obtained;

Based on the independent motion of the manipulator joints, the mapping between the handle action and the manipulator joints is established, and according to the motion signal of the input handle, the angle information of some joints of the manipulator is obtained, and the independent execution signal of the manipulator joint is obtained;

Switch between the linkage of the manipulator joint and the independent movement of the manipulator, and output the linkage execution signal or the independent execution signal to the manipulator.
The remote operation control method for a space manipulator based on a rocker handle according to claim 1, wherein a reference Cartesian coordinate system is established, and a vertical motion degree of freedom mapping of the manipulator relative to the reference coordinate system YOZ plane and the joystick handle is established , establish the translational DOF mapping of the robotic arm relative to the XOY plane of the reference coordinate system and the joystick handle, and establish the rotational DOF mapping of the robotic arm relative to the XOZ plane of the reference coordinate system and the joystick handle.
The method for remote operation and control of a space manipulator based on a rocker handle according to claim 2, further comprising establishing a mapping between the opening and closing of the gripper of the manipulator and the handle.
The method for remote operation and control of a space manipulator based on a joystick handle according to claim 1, characterized in that, according to the mapping of the motion signal of the input handle in the handle coordinate system, the joints of the vertical motion, translational motion and rotational degree of freedom of the manipulator are obtained. angle information;

The handle coordinate system includes a handle pitch coordinate system, a handle yaw coordinate system and a handle roll coordinate system.
The method for teleoperation control of a space manipulator based on a rocker handle according to claim 1, characterized in that, the vertical DOF joints comprise a large arm pitch joint, a forearm pitch joint and a wrist pitch joint.
The method for remote operation and control of a space manipulator based on a rocker handle according to claim 1, wherein the translational DOF joints include a lumbar rotary joint and a wrist swing joint.
The method for remote operation and control of a space manipulator based on a rocker handle according to claim 1, wherein the rotational degree of freedom joint is a claw rotary joint.
The remote operation control method for a space manipulator based on a rocker handle as claimed in claim 1, wherein when the manipulator joints move independently:

Establish the mapping between the X direction of the first handle coordinate system and the waist rotary joint;

Establish the mapping between the Y direction of the first handle coordinate system and the boom pitch joint;

Establish the mapping between the X direction of the second handle coordinate system and the wrist pitch joint;

Establish the mapping between the Y direction of the second handle coordinate system and the wrist swing joint.
The method for remote operation and control of a space manipulator based on a rocker handle according to claim 1, wherein the independent action of the manipulator joints is used as a supplement to the linkage action of the manipulator to independently control some joints of the manipulator.
The method for remote operation control of a space manipulator based on a joystick handle according to claim 1, wherein acquiring the motion signal input to the handle comprises: two-axis travel data of the first handle and two-axis travel data of the second handle.