Human-robot shared control system based on 3D point cloud and teleoperation  

作　　者：YANG ChenGuang ZHANG Ying ZHAO GuanYi CHENG Long 

机构地区：[1]School of Automation Science and Engineering,South China University of Technology,Guangzhou 510641,China [2]Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China

出　　处：《Science China(Technological Sciences)》2023年第8期2406-2414,共9页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(NSFC)(Grant No.U20A20200);the Major Research(Grant No.92148204);the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2019B1515120076 and 2020B1515120054);the Industrial Key Technologies R&D Program of Foshan(Grant Nos.2020001006308and 2020001006496)。

摘　　要：Owing to the constraints of unstructured environments,it is difficult to ensure safe,accurate,and smooth completion of tasks using autonomous robots.Moreover,for small-batch and customized tasks,autonomous operation requires path planning for each task,thus reducing efficiency.We propose a human-robot shared control system based on a 3D point cloud and teleoperation for a robot to assist human operators in the performance of dangerous and cumbersome tasks.The system leverages the operator’s skills and experience to deal with emergencies and perform online error correction.In this framework,a depth camera acquires the 3D point cloud of the target object to automatically adjust the end-effector orientation.The operator controls the manipulator trajectory through a teleoperation device.The force exerted by the manipulator on the object is automatically adjusted by the robot,thus reducing the workload for the operator and improving the efficiency of task execution.In addition,hybrid force/motion control is used to decouple teleoperation from force control to ensure that force and position regulation will not interfere with each other.The proposed framework was validated using the ELITE robot to perform a force control scanning task.

关 键 词：TELEOPERATION 3D point cloud human-robot shared control hybrid force/motion control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]