CN-115657511-B - Robot remote control operation system and method

Abstract

The application provides a robot remote control system, which comprises a master robot, a slave robot and a control system, wherein the control system is configured to enable the slave robot to move along with the movement of the master robot. The control system is further configured to determine a coefficient K and to determine a control force F output from the slave robot at a selected point based on a displacement difference between the reference point on the master robot and the selected point on the slave robot corresponding to the reference point and the coefficient K.

Inventors

• ZHU PEIZHANG
• TANG WENBO
• Guo Zhanfan
• YE XIYANG

Assignees

• 上海非夕机器人科技有限公司
• 非夕科技有限公司

Dates

Publication Date

20260505

Application Date

20220907

Claims (16)

1. 1. A robot remote control system, comprising: A master robot; Slave robot, and A control system configured to cause the slave robot to move following the movement of the master robot, Wherein the control system is further configured to: Determining a control force F output by the slave robot on the selected point based on a displacement difference between a reference point on the master robot and a selected point on the slave robot corresponding to the reference point and the coefficient K; Wherein the control system is configured to determine the coefficient K such that a portion F ext of the control forces F is equal to or less than a predetermined threshold F lim , Wherein the F ext includes a portion of the control force for contact force balance with an external object and/or a portion of the control force for driving the slave robot to follow the motion of the master robot; the control system is further configured to: When a portion F ext of the control force F is smaller than the predetermined threshold F lim , the coefficient K is maintained at a preset value K 0 , and When a portion F ext of the control force F reaches the predetermined threshold F lim , the coefficient K is adjusted based on the change in the displacement difference value such that a portion F ext of the control force F is equal to or less than the predetermined threshold F lim .
2. 2. The system of claim 1, wherein the control system is configured to establish a virtual impedance control relationship between the master robot and the slave robot and determine the control force F based on: Wherein, the For the slave robot based on the slave robot dynamics model to be based on the mass inertia matrix at the selected points, To base the slave robots on the slave robot dynamics model on centrifugal forces and coriolis force matrices at the selected points, For the slave robot based on the slave robot dynamics model to be based on the gravity matrix at the selected point, x d is the reference point displacement, x is the displacement of the selected point, As the first derivative of x d , As the first derivative of x, The second derivative of x, D is a virtual damping coefficient; a portion F ext of the control force F is calculated according to the following formula: wherein x e is the difference between x d and x, Is that And (3) with Is used for the difference in (a), Is the difference between the second derivative of x d and the second derivative of x.
3. 3. The system of claim 2, wherein the control system is further configured to: Maintaining the coefficient K at a preset value K 0 when a portion F ext of the control force F is less than the predetermined threshold F lim , and When a portion F ext of the control forces F reaches the predetermined threshold F lim , the coefficient K is determined by calculation according to one of the following formulas: Or alternatively Wherein F ext (K 0 ) represents the value of F ext calculated when the coefficient K is equal to K 0 .
4. 4. A system according to claim 3, wherein the control system is further configured to: When the slave robot is in a static state, a coefficient K is calculated based on the following formula: 。
5. 5. The system of claim 1, wherein the control system is further configured to control the drive of the master robot to provide haptic feedback to an operator operating the master robot based on a portion F ext of the control forces F.
6. 6. The system of claim 1, wherein the selected point is located on a slave end effector of the slave robot and the reference point is located on a master end effector of the master robot.
7. 7. The system of claim 1, wherein the control system is configured to continuously calculate and adjust the control force F at a predetermined frequency.
8. 8. A robot remote control method, comprising: acquiring a displacement of a reference point on the master robot and a displacement of a selected point on the slave robot corresponding to said reference point, and Determining a coefficient K, determining a control force F output from the robot on the selected point based on a displacement difference between the displacement of the reference point and the displacement of the selected point and the coefficient K; Wherein said determining said control force F output from the robot at said selected point comprises determining said coefficient K such that a portion F ext of said control force F is equal to or less than a predetermined threshold F lim , Wherein the F ext includes a portion of the control force for contact force balance with an external object and/or a portion of the control force for driving the slave robot to follow the motion of the master robot; the determining the control force F output from the robot at the selected point comprises: Maintaining the coefficient K at a preset value K 0 when a portion F ext of the control force F is less than the predetermined threshold F lim , and When a portion F ext of the control force F reaches the predetermined threshold F lim , the coefficient K is adjusted based on the change in the displacement difference value so that a portion F ext of the control force F is equal to or less than the predetermined threshold F lim .
9. 9. The method of claim 8, wherein the determining the control force F output by the slave robot at the selected point comprises establishing a virtual impedance control relationship between the master robot and the slave robot, and determining the control force F based on: Wherein, the For the slave robot based on the slave robot dynamics model to be based on the mass inertia matrix at the selected points, To base the slave robots on the slave robot dynamics model on centrifugal forces and coriolis force matrices at the selected points, For the slave robot based on the slave robot dynamics model to be based on the gravity matrix at the selected point, x d is the reference point displacement, x is the displacement of the selected point, As the first derivative of x d , As the first derivative of x, The second derivative of x, D is a virtual damping coefficient; a portion F ext of the control force F is calculated according to the following formula: wherein x e is the difference between x d and x, Is that And (3) with Is used for the difference in (a), Is the difference between the second derivative of x d and the second derivative of x.
10. 10. The method of claim 9, wherein said determining said coefficient K such that a portion F ext of said control forces F is less than or equal to a predetermined threshold F lim comprises: When a portion F ext of the control force F is smaller than the predetermined threshold F lim , the coefficient K is maintained at a preset value K 0 , and When a portion F ext of the control force F reaches the predetermined threshold F lim , the coefficient K is computationally determined according to one of the following formulas: Or alternatively Wherein F ext (K 0 ) represents the value of F ext calculated when the coefficient K is equal to K 0 .
11. 11. The method of claim 10, wherein the beginning of the adjustment of the coefficient K when a portion F ext of the control force F reaches the predetermined threshold F lim such that a portion F ext of the control force F is less than or equal to the predetermined threshold F lim comprises: When the slave robot is in a static state, a coefficient K is calculated based on the following formula: 。
12. 12. The method of claim 8, further comprising controlling a drive of the host robot based on a portion F ext of the control forces F to provide haptic feedback to an operator operating the host robot.
13. 13. The method of claim 8, wherein the selected point is located on a slave end effector of the slave robot and the reference point is located on a master end effector of the master robot.
14. 14. The method of claim 8, further comprising continuously calculating and adjusting the control force F at a predetermined frequency.
15. 15. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the computer program, when executed by the processor, causes the processor to perform the steps of the method according to any of claims 8 to 14.
16. 16. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 8 to 14.

Description

Robot remote control operation system and method Technical Field The application relates to the field of robots, in particular to a robot remote control operation system and a robot remote control operation method. Background With the development of technology, robots are widely used in various fields and have different types and structures. Such as an articulated robot, having, for example, a plurality of rotatable joints to effect movement over a range of space. The control of the robot may be achieved by a manual remote control robot, in one implementation, the remote control robot requires a master robot for manual operation and a slave robot configured to follow the movements of the master robot. In one application scenario, the robot is remotely controlled to move by manual teaching, programming is performed based on data generated in the teaching process, and the teaching result can produce operation instructions which are automatically executed by the robot subsequently. In another application scenario, for a working environment where it is difficult for a robot to automatically run or program extremely complex, the robot may be operated by remote control to assist the corresponding work of the robot in the environment. In the existing technology of remotely operating a robot, unexpected movement of the slave robot or overdriving of an operator may be caused due to communication reasons or environmental reasons, etc., and thus an excessive contact force is generated between the slave robot and the workpiece or obstacle, which may cause damage to the workpiece or robot. Disclosure of Invention In view of the foregoing, it is desirable to provide a robot remote control operation system, method, computer device, and storage medium. The application provides a robot remote control operation system which comprises a master robot, a slave robot and a control system. The control system is configured to cause the slave robot to move following the movement of the master robot. The control system is further configured to determine a coefficient K and to determine a control force F output from the robot at a selected point based on a displacement difference between the reference point on the master robot and the selected point on the slave robot corresponding to the reference point and the coefficient K. In one embodiment, the control system is configured to determine the coefficient K such that a portion F ext of the control force F is equal to or less than a predetermined threshold F lim, wherein F ext comprises a portion of the control force for balancing the contact force with the external object and/or a portion of the control force for driving the slave robot to follow the motion of the master robot. In one embodiment, the coefficient K is maintained at the preset value K 0 when a portion F ext of the control force F is less than the predetermined threshold F lim, and the coefficient K is initially adjusted when a portion F ext of the control force F reaches the predetermined threshold F lim such that a portion F ext of the control force F is less than or equal to the predetermined threshold F lim. In one embodiment, the control system is further configured to adjust the coefficient K based on the change in the displacement difference when a portion F ext of the control force F reaches a predetermined threshold F lim such that a portion F ext of the control force F is less than or equal to the predetermined threshold F lim. In one embodiment, the control system is configured to establish a virtual impedance control relationship between the master robot and the slave robot, and to determine the control force F based on the following conditions: Wherein, the For a slave robot based on a slave robot dynamics model based on a mass inertia matrix at a selected point,For a slave robot based on a slave robot dynamics model based on centrifugal force and coriolis force matrices at selected points,For a slave robot based on a slave robot dynamics model based on a gravity matrix at a selected point, x d is the reference point displacement, x is the displacement of the selected point,As the first derivative of x d,As the first derivative of x,The second derivative of x, D is a virtual damping coefficient; A portion F ext of the control force F is calculated according to the following formula: wherein x e is the difference between x d and x, Is thatAnd (3) withIs used for the difference in (a),Is the difference between the second derivative of x d and the second derivative of x. In one embodiment, the illustrated control system is further configured to maintain the coefficient K at a preset value K 0 when a portion F ext of the control force F is less than a predetermined threshold F lim, and to calculate the determination coefficient K when a portion F ext of the control force F reaches a predetermined threshold F lim according to one of the following formulas: Or alternatively Wherein F ext(K0) represents the valu