面向双操作者的六足机器人共享遥操作  

Shared teleoperation of hexapod robot for dual operators

作　　者：尤波[1] 曲伟健 李佳钰[1] YOU Bo;QU Wei-jian;LI Jia-yu(Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration,Harbin University of Science and Technology,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学黑龙江省复杂智能系统与集成重点实验室,哈尔滨150080

出　　处：《控制与决策》2022年第11期2769-2778,共10页Control and Decision

基　　金：国家自然科学基金项目(51905136,91948202);黑龙江省自然科学基金项目(LH2020E088)。

摘　　要：随着六足机器人遥操作系统研究工作的日趋深入,针对其操控系统的开发也将面临诸多挑战.为了实现双人操控条件下各操作者的控制权重实时分配,设计一种基于透明性及控制状态(TCS)的六足机器人双用户控制权重分配方法.其双主端与单从端采取位置-速度的交互模式,通过分析系统实时透明性与当前控制状态,构建三边遥操作控制律,实时计算共享因子,采用速度跟踪模式设计基于触觉力反馈的系统控制架构,并利用三端口绝对稳定定理确定控制律参数的稳定范围.最后,搭建半物理仿真实验平台并验证所设计的三边共享遥操作方法能够在兼顾系统安全性与透明性的同时以较高的效率与安全性实现六足机器人的双用户操控,并能充分考虑双用户的控制意图.With the deepening research on the hexapod robot teleoperation system,the development of its control system will also face many challenges.Under the condition of dual-user control of the hexapod robot,in order to realize the real-time distribution of the control weight of each operator,a weight distribution method based on the transparency and control state(TCS)is designed in this paper.Its dual master and single slave adopt a position-speed interactive mode.A trilateral teleoperation control law is constructed by analyzing the real-time transparency and current control status of the system,and the sharing factor is calculated in real time.A speed tracking mode is adopted to design a control architecture based on haptic force feedback,and the three-port absolute stability theorem is used to determine the stable range of the control law parameters.Finally,a semi-physical simulation experiment platform is built,on which it is verified that the designed trilateral shared teleoperation method can consider both the system security and transparency,and the dual-user control of the hexapod robot is realized with high efficiency and safety at the same time,with fully considering the control intent of dual users.

关 键 词：六足机器人 遥操作 透明度 共享控制 实时权重分配 触觉力反馈 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]