摘要
主从异构型遥操作机器人系统在主从结构、自由度等方面的差异,导致其主端小范围操作空间难以覆盖从端大范围工作空间,以及从端难以精确定位。针对此问题,首先搭建了一套主从异构型遥操作机器人系统的软硬件平台,然后对主从端机器人进行运动学建模,进而提出了一种主端位置-从端速度和主端位置-从端位置混合切换的映射算法。一方面,所提算法通过主端位置-从端速度映射模式解决主从工作空间不匹配的问题,从而提高大范围空间下从端抵近目标的效率;另一方面,所提算法通过主端位置-从端位置映射模式实现从端精细定位,同时克服主端位置-从端速度映射中从端无法快速换向运动的缺陷。实验结果表明,所提混合映射算法能够实现主端遥操作从端机器人高效地完成复杂、精细的操作任务。
The differences in structure and degree of freedom between the master and slave of master-slave heterogeneous teleoperation robot system make it difficult for the small operating space of the master to cover the large working space of the slave and the slave to locate accurately.To solve this problem,a set of hardware and software platform of the master-slave heterogeneous teleoperation robot system is built,and the kinematics of the master and slave robots are modeled,and then a hybrid mapping algorithm of master position-slave velocity and master position-slave position is proposed.On the one hand,the proposed algorithm solves the problem of master-slave workspace mismatch by the master position-slave velocity mapping mode,thus improving the efficiency of the slave approach to the target in a large space.On the other hand,the proposed algorithm realizes the fine location of the slave by the master position-slave position mapping mode,and overcomes the defect that the slave can not change direction quickly in the master position-slave velocity mapping.The experimental results show that the proposed hybrid mapping algorithm can make the slave robot complete complex and fine operation tasks efficiently under the teleoperation of the master.
作者
霍子轩
袁明星
张雪波
HUO Zixuan;YUAN Mingxing;ZHANG Xuebo(Institute of Robotics and Automatic Information System,College of Artificial Intelligence,Nankai University,Tianjin 300350,China)
出处
《控制工程》
CSCD
北大核心
2024年第4期654-660,共7页
Control Engineering of China
基金
国家重点研发计划项目(2018YFB1307503)
国家自然科学基金资助项目(62003176)
天津市杰出青年基金资助项目(19JCJQJC62100)。
关键词
遥操作
机器人学
主从控制
工作空间匹配
混合映射
Teleoperation
robotics
master-slave control
workspace matching
hybrid mapping
