阅读说明：本技术 一种双臂机器人协同遥操作控制方法 (Cooperative teleoperation control method for double-arm robot ) 是由 卢明飞 李炳辉 王敏 孟卫锋 于 2019-09-09 设计创作，主要内容包括：本发明提出一种双臂机器人协同遥操作控制方法,该控制模式由主端的单个操作者操作两个手控器对从端的双臂机器人进行操控,通过将主端操作者的操作手控器的位置、速度和力信息传递到从端机器人,从端机器人根据主端发送的信息进行协调控制,通过控制实现与主端信息保持一致,并将反馈信息反馈给主端手控器及操作者。本发明采用相对阻抗的方式描述主端的协同操作,并将该方式作为从端双臂机器人协同操作的控制因子,实现主从协同操作行为的一致性。该操作模式还可以适用于除双臂机器人之外的多臂机器人的协同遥操作的控制。(The invention provides a coordinated teleoperation control method for a double-arm robot, which is characterized in that a single operator at a master end operates two hand controllers to control the double-arm robot at a slave end, the position, speed and force information of the operating hand controller of the operator at the master end is transmitted to the slave end robot, the slave end robot carries out coordinated control according to the information sent by the master end, the control is realized to keep the consistency with the information at the master end, and feedback information is fed back to the hand controller at the master end and the operator. The invention describes the cooperative operation of the master end by adopting a relative impedance mode, and the mode is used as a control factor of the cooperative operation of the slave end double-arm robot, so that the consistency of master-slave cooperative operation behaviors is realized. This mode of operation may also be applicable to the control of coordinated teleoperation of multi-arm robots other than two-arm robots.)

1. A cooperative teleoperation control method for a double-arm robot is characterized by comprising the following steps: the method comprises the following steps:

step 1: establishing a dynamic model of a master end operator, a hand controller, a slave end mechanical arm and an environment:

wherein i represents the ith master end hand controller or the ith slave end mechanical arm, and i is 1,2, M_mi,And G_miRespectively representing the quality parameter, centripetal force parameter and gravity parameter, q of the master hand controller i_mi,Indicates the joint angle, angular velocity and angular acceleration of the master hand controller i, d_mi(t) represents disturbance force of master hand controller i, F_mi(t) represents an acting force acting on the master hand controller i, F_msi(t) represents a control force applied to the master hand controller i, J_miJacobian matrix representing the principal end, in which the symbol (A)^TRepresents the transpose of matrix a; m_si,And G_siRespectively representing the mass parameter, centripetal force parameter and gravity parameter, q of the slave end mechanical arm i_si,Representing joint angle, angular velocity and angular acceleration of the slave end robot arm i, d_si(t) represents a disturbance force from the end robot arm i, F_si(t) represents the force acting on the slave end robot arm i, F_csi(t) shows a control force applied to the slave end arm i, J_siA Jacobian matrix representing the slave;

step 2: the control force model of the master hand controller is established as

Wherein is defined as_i＝q_si(t-T)-q_mi(T), T represents the communication time delay of the master and the slave, q_si(T-T) represents time-delayed q_siValue of (t), definitionk₁Is a constant number, k_miFor control parameters for regulating the stability of the system, η_miFor system-robust terms, for attenuating the parameter epsilon_iThe impact on system stability;

and step 3: the control force model of the slave end mechanical arm is established as

Wherein is defined Is represented in the set [1,2 ]]Take a value different from I, I_2×1Representing a unit vector of 2 x 1, denotes J_csiThe pseudo-inverse of (a) is,denotes J_csiDerivative matrix of k₂Is a constant number of times, and is,to representThe pseudo-inverse of (1); x_Ri＝x_si(t)-x_si(t)， x_si，Andrespectively representing the position, velocity and acceleration of the slave arm i,andrespectively representing slave armsPosition, velocity, and acceleration of;andrespectively representing slave armsAngular acceleration and angular velocity of;

definition ofWherein Represents D_xThe value of the derivative of (a) is,wherein

μ_siIs a pair of d_siThreshold for limiting, η_ρiIs a set proportionality coefficient;

definition ofe_i＝q_mi(t-T)-q_si(t)， Is represented by r_iDerivative of (a), k₂Is a normal number;

k_siis a control parameter for regulating the stability of the system;

and 4, step 4: and (4) performing cooperative teleoperation control on the double-arm robot according to the control force models of the master-end hand controller and the slave-end mechanical arm established in the step (2) and the step (3).

2. The cooperative teleoperation control method of the dual-arm robot according to claim 1, wherein: system robust term eta in step 2_miThe expression of (a) is:

η_mi＝δ_mi·sat(ε_i,μ_mi)

wherein mu_miIs a pair of d_miThreshold value for limiting, δ_miIs a set proportionality coefficient.

Technical Field

The invention relates to a cooperative teleoperation control method for a double-arm robot, and belongs to the technical field of teleoperation.

Background

Currently, assembly and maintenance technology is one of the important technologies that need to be developed by national strategic demands. The teleoperation technology is used as a technology for directly controlling a remote robot through a control means, plays an important role in nuclear environment, deep sea environment, space environment and the like, and plays a good supplementary role in the situations that the robot has insufficient intelligence degree and is difficult to bear complex control tasks at present.

The suitable objects of the prior teleoperation technology are mainly a single-mechanical-arm robot, an unmanned aerial vehicle and the like, the single-arm robot is adopted for teleoperation control and completing operation tasks, the tasks can be sequentially executed or the cooperative operation without dynamic coupling is solved, and if a plurality of operation objects exist in the operation process, the operation on the targets with the coupling objects is difficult. Further, if the operation object moves during the operation, it is difficult for the individual operation mode to cope with the cooperative operation behavior, so that there is a possibility of causing damage to the target.

The multi-arm robot has the advantages of large load capacity, wide operation range and more adaptive operation scenes, but the cooperative teleoperation of the multi/double-arm robot has less related research technologies.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a coordinated teleoperation control method for a double-arm robot, wherein in the control mode, a single operator at a master end operates two hand controllers to control the double-arm robot at a slave end, the position, speed and force information of the operating hand controller of the operator at the master end is transmitted to the robot at the slave end, the robot at the slave end performs coordinated control according to the information sent by the master end, the control is realized to keep the information consistent with the information at the master end, and the feedback information is fed back to the hand controller at the master end and the operator.

The technical scheme of the invention is as follows:

the cooperative teleoperation control method for the double-arm robot is characterized by comprising the following steps: the method comprises the following steps:

step 1: establishing a dynamic model of a master end operator, a hand controller, a slave end mechanical arm and an environment:

wherein i represents the ith master end hand controller or the ith slave end mechanical arm，i＝1,2，M_mi,And G_miRespectively representing the quality parameter, centripetal force parameter and gravity parameter, q of the master hand controller i_mi,Indicates the joint angle, angular velocity and angular acceleration of the master hand controller i, d_mi(t) represents disturbance force of master hand controller i, F_mi(t) represents an acting force acting on the master hand controller i, F_msi(t) represents a control force applied to the master hand controller i, J_miJacobian matrix representing the principal end, in which the symbol (A)^TRepresents the transpose of matrix a; m_si,And G_siRespectively representing the mass parameter, centripetal force parameter and gravity parameter, q of the slave end mechanical arm i_si,Representing joint angle, angular velocity and angular acceleration of the slave end robot arm i, d_si(t) represents a disturbance force from the end robot arm i, F_si(t) represents the force acting on the slave end robot arm i, F_csi(t) shows a control force applied to the slave end arm i, J_siA Jacobian matrix representing the slave;

step 2: the control force model of the master hand controller is established as

Wherein is defined as_i＝q_si(t-T)-q_mi(T), T represents the communication time delay of the master and the slave, q_si(T-T) represents time-delayed q_siValue of (t), definitionk₁Is a constant，k_miFor control parameters for regulating the stability of the system, η_miFor system-robust terms, for attenuating the parameter epsilon_iThe impact on system stability;

and step 3: the control force model of the slave end mechanical arm is established as

Wherein is defined Is represented in the set [1,2 ]]Take a value different from I, I_2×1Representing a unit vector of 2 x 1, denotes J_csiThe pseudo-inverse of (a) is,denotes J_csiDerivative matrix of k₂Is a constant number of times, and is,to representThe pseudo-inverse of (1); x_si，andrespectively representing the position, velocity and acceleration of the slave arm i,andrespectively representing slave armsPosition, velocity, and acceleration of;andrespectively representing slave armsAngular acceleration and angular velocity of;

definition ofWherein Represents D_xThe value of the derivative of (a) is,wherein

μ_siIs a pair of d_siThreshold for limiting, η_ρiIs a set proportionality coefficient;

definition of Is represented by r_iDerivative of (a), k₂Is a normal number;

k_siis a control parameter for regulating the stability of the system;

and 4, step 4: and (4) performing cooperative teleoperation control on the double-arm robot according to the control force models of the master-end hand controller and the slave-end mechanical arm established in the step (2) and the step (3).

Further preferred scheme, the cooperative teleoperation control method of double-arm robot is characterized in that: system robust term eta in step 2_miThe expression of (a) is:

η_mi＝δ_mi·sat(ε_i,μ_mi)

wherein mu_miIs a pair of d_miThreshold value for limiting, δ_miIs a set proportionality coefficient.

Advantageous effects

Compared with the traditional teleoperation mode (each person independently operates one mechanical arm to complete one task together), the teleoperation method has the following advantages:

(1) the traditional control method is usually only used for operating the robot with a single mechanical arm, and the invention can realize the control of the double-arm robot;

(2) and describing the cooperative operation of the master end by adopting a relative impedance mode, and using the mode as a control factor of the cooperative operation of the slave end double-arm robot to realize the consistency of master-slave cooperative operation behaviors.

(3) This mode of operation may also be applicable to the control of coordinated teleoperation of multi-arm robots other than two-arm robots.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 illustrates the variation of joint angle error over time in the case of the relative impedance method of the present invention in a stable operating environment;

FIG. 2 shows the change of the joint angle error with time in the case of using a common teleoperation method in a stable operation environment;

FIG. 3 illustrates the variation of joint angle error over time in the case of using the relative impedance method of the present invention in an unstable operating environment;

fig. 4 shows the change of the joint angle error with time in the case of using a general teleoperation method in an unstable operation environment.

Detailed Description

The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.

The invention provides a coordinated teleoperation control method for a double-arm robot, which is characterized in that a single operator at a master end operates two hand controllers to control the double-arm robot at a slave end, the position, speed and force information of the operating hand controller of the operator at the master end is transmitted to the slave end robot, the slave end robot carries out coordinated control according to the information sent by the master end, the control is realized to keep the consistency with the information at the master end, and feedback information is fed back to the hand controller at the master end and the operator.

Establishing a dynamic model of a master end operator, a hand controller, a slave end mechanical arm and an environment:

wherein i represents the ith master end hand controller or the ith slave end mechanical arm, and i is 1,2, M_mi,And G_miRespectively representing the quality parameter, centripetal force parameter and gravity parameter, q of the master hand controller i_mi,Indicates the joint angle, angular velocity and angular acceleration of the master hand controller i, d_mi(t) represents disturbance force of master hand controller i, F_mi(t) represents an acting force acting on the master hand controller i, F_msi(t) represents a control force applied to the master hand controller i, J_miJacobian matrix representing the principal end, in which the symbol (A)^TRepresents the transpose of matrix a; m_si,And G_siRespectively representing the mass parameter, centripetal force parameter and gravity parameter, q of the slave end mechanical arm i_si,Representing joint angle, angular velocity and angular acceleration of the slave end robot arm i, d_si(t) represents a disturbance force from the end robot arm i, F_si(t) represents the force acting on the slave end robot arm i, F_csi(t) shows a control force applied to the slave end arm i, J_siRepresents the jacobian matrix of the slave end robot arm i.

The control force model of the master hand controller is established as

Wherein is defined as_i＝q_si(t-T)-q_mi(T), T represents the communication time delay of the master and the slave, q_si(T-T) represents time-delayed q_siValue of (t), definitionk₁Is a constant number, k_miIs a positive number, representing a control parameter of the system, by adjusting the parameter k_miCan ensure the stability of the systemEta. of_miFor system-robust terms, for attenuating the parameter epsilon_iInfluence on system stability, system robustness term η_miThe expression of (a) is:

η_mi＝δ_mi·sat(ε_i,μ_mi)

wherein mu_miIs a positive number, representing for d_miThreshold of limitation, δ_miTo set a smaller scaling factor, δ in this embodiment_mi＝1。

Two mechanical arms at the slave end need to interact with other mechanical arms and independently process the interaction with the environment, so the design of the controller is relatively complex, and a relative distance item is included in the design of the controllerAndthe expression is as follows:whereinIs represented in the set [1,2 ]]Take a value different from i, i.e. when i is 1,if the number i is 2,I_2×1representing a unit vector of 2 x 1,J_siandrespectively showing a slave arm i and a relatively slave armThe jacobian matrix of (a) is,denotes J_csiThe pseudo-inverse of (a) is,denotes J_csiDerivative matrix of k₂Is a constant number of times, and is,to representThe pseudo-inverse of (1).

Is further defined according to the above symbolsx_si，Andrespectively representing the position, velocity and acceleration of the slave arm i,andrespectively representing slave armsPosition, velocity and acceleration of the object, from which can be derivedAndnumerical values.

Definition ofWherein Represents D_xThe value of the derivative of (a) is,representing the parameter p_iIs determined by the estimated value of (c),wherein

μ_siIs a positive number, representing for d_siThreshold for limiting, η_ρiFor a set smaller scaling factor, take η_ρi＝1。

Definition of Is represented by r_iDerivative of (a), k₂If the control force is a normal number, a control force model of the slave end mechanical arm is established as

Andrespectively representing slave armsAngular acceleration and angular velocity of; k is a radical of_siIs a positive number, representing a control parameter of the system, by adjusting the parameter k_siThe stability of the system can be ensured.

And performing cooperative teleoperation control on the double-arm robot according to the control force models of the master end hand controller and the slave end mechanical arm established in the step 3.

In this embodiment, a double-link double-arm robot is adopted to move on the X-Y plane, and the system parameters are respectively: the mass of each connecting rod at the main end is m_m1＝1.2kg，m_m21.4kg, the length of each connecting rod is L_m1＝0.5m，L_m2＝0.5m，k₁＝k₂1, the mass of each connecting rod at the slave end is m_s1＝2.3kg，m_s24.6kg, the length of each connecting rod at the main end is L_s1＝0.5m L_s2When the value is 0.5m, the controller parameter is respectively set as k_m1＝k_m2＝15,k_s1＝20,k_s2Comparing 35, the simulation result of the common teleoperation control method is as follows, wherein fig. 1 and fig. 2 are respectively the relationship of the change of the joint angle error with time in the stable operation environment, fig. 3 and fig. 4 are respectively the relationship of the change of the joint angle error with time in the unstable operation environment, and the results of the four graphs are compared to find that the change of the joint angle error with time in the stable operation environment is similar to that of the common teleoperation method. Compared with the traditional multi-arm teleoperation (without considering the synergistic effect among mechanical arms), the control method provided by the invention has the advantages of good stability, strong operability, stable operation process, good synergistic effect, small damage to a target and the like, and has higher practical value.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.