遥操作机器人系统设计及控制方法  

System Design and Control Method of Teleoperated Robot

作　　者：刘嘉瑞 舒琳 孙亚强[1,2] 梁国宇 梁俊 Liu Jiarui;Shu Lin;Sun Yaqiang;Liang Guoyu;Liang Jun(Guangdong Institute of Artificial Intelligence and Advanced Computing,Guangzhou 510530,China;Institute of Automation,Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]广东人工智能与先进计算研究院,广州510530 [2]中国科学院自动化研究所,北京100049

出　　处：《机电工程技术》2023年第7期29-33,共5页Mechanical & Electrical Engineering Technology

基　　金：广东省重点领域研发计划(高水平创新研究院定向委托)项目(2019B090917009);广州市科技计划项目(202201000009)。

摘　　要：设计了一套遥操作机器人系统并提出一种相对位姿尺度变换的姿态映射算法和在线轨迹平滑方法,以解决遥操作系统存在主从端工作空间不匹配以及控制数据不稳定的问题。首先,结合光学追踪器和惯性传感器设计符合人类日常习惯的主端动作捕捉系统;从端采用三轴云台相机、UR5机械臂和机械手搭建了类人的机器人系统。其次,为解决遥操作系统存在的主从端异构、工作空间大小不匹配等问题,提出一种相对位姿尺度变换算法。最后,针对所设计的遥操作机器人系统和控制算法开展了主从跟随精度验证和遥操作抓放物体实验。实验结果表明,相对位姿尺度变换方法兼顾了遥操作任务中的效率和精度要求,在操作者动作姿态快速变化的运动过程中,所设计的遥操作系统仍能以较高精度跟随目标轨迹运动,且从端延时仅约为0.1 s,使得从端机器人可较好地实时复现主端操作者的动作。A teleoperated robot system is designed and a pose mapping algorithm based on relative scaling transformation and an online trajectory smoothing method are proposed to solve the problems of master and slave workspace mismatch and control data instability.First,a motion capture system is designed by combining optical tracker and inertial measurement unit that conform to everyday human habits,and a robot system is constructed by using a three-axis gimbal camera,UR5 manipulator and a robot hand.Second,in order to solve the problems of master/slave heterogeneity and workspace size mismatch in teleoperation system,a relative pose scaling algorithm is proposed.Finally,the master-slave tracking accuracy verification and the experiment of grasping and releasing objects are carried out according to the designed teleoperation robot system and control algorithm.The results show that the relative pose scaling algorithm takes into account the efficiency and accuracy requirements of the teleoperated task,the teleoperation robot can still follow the target trajectory with high precision in the process of the rapid change of the operator′s motion,and the motion delay of the slave end is only about 0.1 s.

关 键 词：光学追踪器 惯性传感器 动作捕捉系统 遥操作机器人 主从跟随 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]