主从异构型液压机械臂遥操作的相似性映射方法  

Similarity Mapping Method of Teleoperation of Master-slave Heterogeneous Hydraulic Manipulator

作　　者：钱涤非 程敏[2] 张付 张军辉[1] 徐兵[1] QIAN Di-fei;CHENG Min;ZHANG Fu;ZHANG Jun-hui;XU Bing(State Key Laboratory of Fluid Power&Mechatronic Systems,Zhejiang University,Hangzhou,Zhejiang 310027;State Key Laboratory of Mechanical Transmissions,Chongqing University,Chongqing 400044)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027 [2]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《液压与气动》2023年第12期41-48,共8页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(U21A20124);浙江省科技计划(2022C01039)。

摘　　要：现有的重载液压机械臂自由度多,执行的任务繁复多样,利用外骨骼来对其进行遥操作能够提高机械臂控制的精准性和直观性,有着不可替代的优势。根据人上肢穿戴性需要进行设计会导致外骨骼与机械臂之间的结构异构,从而出现主从运动学不匹配的情况。基于四自由度外骨骼和七自由度冗余液压机械臂之间的主从控制,提出了一种适用于主从异构遥操作的笛卡尔-关节空间相似性映射方法,解决了二者自由度数量、自由度配置、可达工作空间等差异对主从控制一致性带来的问题。考虑控制需求和液压驱动特性,定义了主从异构遥操作下的相似性映射条件和关节运动约束条件,提出使用加权增广变系数雅克比矩阵的方法来满足操作者与从端机械臂之间额外映射关系,并给出了其中关节速度限制系数的选取条件。搭建了系统的机-液耦合仿真模型进行了验证。结果表明:提出的方法可以提高液压机械臂主从异构遥操作的灵活性和直观性,进而令液压机械臂更好地根据主端指令完成复杂的空间任务。The existing hydraulic manipulators have many degrees of freedom(DOFs)and performs complex tasks.Using exoskeleton for teleoperation can improve the accuracy and intuition of manipulator control,which has irreplaceable advantages.Designing according to upper-body wearability needs will lead to structural heterogeneity between exoskeleton and manipulator,resulting in master-slave kinematic asymmetry.Based on the master-slave control between a four DOF exoskeleton and a seven DOF redundant hydraulic manipulator,this paper proposes a Cartesian-joint space similarity mapping method suitable for master-slave heterogeneous teleoperation,which solves the problems of the differences,including the number of DOFs,DOF configuration and reachable working space on the consistency of master-slave control.Considering the control requirements and hydraulic-driving characteristics,the similarity mapping conditions and joint motion constraints under master-slave heterogeneous teleoperation are defined.The method based on weighted augmented Jacobian matrix with variable coefficient is proposed to meet the additional mapping relationships between the operator and the slave manipulator,and the selection criteria of joint speed limit coefficient are given as well.The mechanical-hydraulic coupling simulation model of the system is built for simulation verification.The results show that the method proposed in this paper can improve the flexibility and intuition of master-slave heterogeneous teleoperation and make the hydraulic manipulator better complete complex space tasks according to master instructions.

关 键 词：运动学映射 冗余液压机械臂 遥操作控制 

分 类 号：TH137[机械工程—机械制造及自动化] TP241.2[自动化与计算机技术—检测技术与自动化装置]