基于手控器触觉共享控制的主从遥操作  

Master-slave Teleoperation Based on Haptic Device Tactile Shared Control

作　　者：倪涛[1] 朱厚文[1] 张红彦[1] 黄玲涛 郑幻飞 巩明德[1] 

机构地区：[1]吉林大学机械科学与工程学院,长春130022

出　　处：《农业机械学报》2016年第12期367-372,423,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51305153;51575219);高等学校博士学科点专项科研基金项目(20130061110009)

摘　　要：为了提高主从遥操作的效率和系统的安全性,设计了能够实现主从位移控制的手控器,构建了基于虚拟墙引导主动控制模型,通过融合操作者的人工控制和机器人的视觉引导,实现机器人遥操作中主从两端的信息共享和相互引导,对手控器和从端作业机器人进行控制。通过搭建基于共享控制策略的手控器-机器人系统实验平台,验证所设想控制方法的有效性,最终实现了提升主从遥操作的作业效率,减轻了机器人对环境的瞬间冲击,提高了系统的安全性。Because of the development limitation of control, sensor and intelligence in robotics, it is hard to fulfill the fully autonomous of robot in the changeable environment immediately. Hence, the master- slave teleoperation is becoming increasingly important in the extreme working environment. The haptic device could work as an interface and fulfill the interactional control between operator and slave working environment. In order to improve the efficiency of the master-slave teleoperation and system security, a haptic device was designed to achieve master-slave displacement control. The kinematics and dynamics property of the designed structure was analyzed, the parameters of the device were instantiated, and the rationality of the design was estimated. Active control mode was established based on virtual wall guide, through the fusion of operator＇ s manipulation and robotic visual guidance, information sharing and mutual guidance were realized in the teleoperation. Experiments were conducted by using a haptic device -robot system experimental platform. Compared with the trajectory of manual mode, the trajectory of active mode was smoother and more stable. Through the evaluation of haptic device＇s real performance, the active control mode could ensure the stability of robot under the master-slave control. The effectiveness of the control method was verified by the experiments. Finally, the efficiency improvement of master-slave teleoperation, impact reduction of robot on environment and security improvement of the system were achieved.

关 键 词：主从遥操作 手控器 共享控制 虚拟力引导 导纳控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]