遥操作机器人的碰撞风险量化与力反馈避障  

Collision Risk Quantification and Force Feedback Obstacle Avoidance for Teleoperated Robots

作　　者：张涛[1] 易承修 冉睿 梁科 ZHANG Tao;YI Chengxiu;RAN Rui;LIANG Ke(School of Mechanical Engineering,Guangxi University,Nanning Guangxi 530004,China)

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《机床与液压》2024年第21期7-13,共7页Machine Tool & Hydraulics

基　　金：广西科技基地和人才专项项目(2021AC19324)。

摘　　要：针对传统碰撞风险量化考虑因素不全导致遥操作机器人碰撞情况量化结果不精确的问题,提出一种新的碰撞风险量化模型。该模型不仅考虑距离因素,还考虑速度和外部环境等间接因素对碰撞的影响。将碰撞风险应用于力反馈避障模型中,通过主手向操作者提供虚拟力来感知环境中的障碍物,从而控制机器人避开。采用位置-速度映射搭建主从控制系统,对提出的碰撞风险量化模型和力反馈避障模型进行验证。结果表明:所提出的碰撞风险模型能正确反映机器人的碰撞情况,并且操作者能根据主手提供的反馈力控制机器人避开障碍物。In order to solve the problem that the traditional collision risk quantification does not take into account all the factors that lead to inaccurate quantification results for teleoperated robots,a new collision risk quantification model was proposed.In this model,not only the distance factor was taken into account,but also the impact of speed and indirect factors such as external environment on the collision was considered.The collision risk was applied into the force feedback obstacle avoidance model,which controlled the robot to avoid obstacles in the environment by providing virtual force from the master hand to the operator.A master-slave control system was built using position-velocity mapping,and the proposed collision risk quantification model and force feedback obstacle avoidance model were verified.The results show that the proposed collision risk model can correctly reflect the collision situation of the robot,and the operator can control the robot to avoid obstacles based on the feedback force provided by the master hand.

关 键 词：遥操作机器人 避障 碰撞风险 力反馈 主从控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]