摘要
在遥操作机器人系统中,从端机器人不仅需准确地跟随主端设备的运动,还需与外界环境保持合适接触力,以避免因接触力过大对机器人和环境造成破坏.由于遥操作机器人系统中主从端设备是分离的,要实现遥操作下柔顺接触是极具挑战的.为了提高遥操作机器人系统任务执行的安全性,本文结合运动映射提出一种主从遥操作下阻抗控制策略.首先,通过提出主从端运动映射策略,将主从端设备联系起来,并获得从端机器人运动的目标位姿.接着,为了实现机器人末端执行器与环境的柔顺接触,提出阻抗控制策略,建立机器人与外界环境之间的位置和接触力的动态响应关系.同时,引入虚拟排斥力,让从端机器人的双臂在可行的空间中运动,从而提高了机器人操作的柔顺性和安全性.设计了机器人拖拽和白板擦拭两个实验来验证方法有效性.实验结果表明,所提出方法可实现机器人在具有接触的任务中的柔顺操作,可提高操作的安全性.
In the teleoperation robot system,to avoid the damage to the robot and the environment due to the excessive contact force,the slave robot needs the appropriate contact force with the external environment and accurately following the movement of the master device.Because the master-slave devices are separated in teleoperation robot system,it is still a challenging problem to achieve compliant contact in the teleoperation robot system.In order to improve the security of teleoperation robot system,this paper proposes a torque based impedance control strategy combined with motion mapping.Firstly,the master-slave motion mapping strategy is proposed to link the master-slave devices and obtain the target pose of the slave robot.Secondly,the impedance control strategy is proposed.The dynamic response relationship of position and contact force between robot and environment is established to realize the compliant contact between the end effector and the environment.At the same time,the virtual repulsive force is introduced to make the two arms of the slave robot move in the allowed space,which can improve the flexibility and safety of the active teleoperation robot.Two experiments of robot dragging and whiteboard wiping are designed to verify the effectiveness of the method.Experimental results show that the proposed method can achieve compliant operation of robot in task with wiping.It clearly shows that the security of robot operation can be improved greatly with the method.
作者
韩昌
周浩
高俊
HAN Chang;ZHOU Hao;GAO Jun(Robot Visual Perception and Application Academic Team,Wuhan Business University,Wuhan 430056,China)
出处
《小型微型计算机系统》
CSCD
北大核心
2024年第3期636-640,共5页
Journal of Chinese Computer Systems
基金
湖北省高等学校优秀中青年科技创新团队计划项目(T201936)资助
武汉市应用基础前沿项目(2019010701011399)资助.
关键词
遥操作机器人
柔顺操作
阻抗控制
运动映射
teleoperation robot
compliant operation
impedance control
motion mapping
