面向双操作者的六足机器人共享遥操作研究
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作者单位:

哈尔滨理工大学

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中图分类号:

TP242

基金项目:

国家自然科学基金,黑龙江省自然科学基金


Research on Shared Teleoperation of Hexapod Robot for Dual Operators
Author:
Affiliation:

Harbin University of Science and Technology

Fund Project:

The National Natural Science Foundation of China, The Natural Science Foundation of Heilongjiang Province of China

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    摘要:

    随着六足机器人遥操作系统研究工作的日趋深入,针对其操控系统的开发也将面临诸多挑战。为了实现双人操控条件下各操作者的控制权重实时分配,本文设计一种基于透明性及控制状态(TCS)的六足机器人双用户控制权重分配方法。其双主端与单从端采取位置-速度的交互模式,通过分析系统实时透明性与当前控制状态,构建三边遥操作控制律,实时计算共享因子,采用速度跟踪模式设计基于触觉力反馈的系统控制架构,并利用三端口绝对稳定定理确定控制律参数的稳定范围。最后,搭建半物理仿真实验平台并验证所设计的三边共享遥操作方法能够在兼顾系统安全性与透明性的同时以较高的效率与安全性实现六足机器人的双用户操控,并能充分考虑双用户的控制意图。

    Abstract:

    With the deepening of the research work of the hexapod robot teleoperation system, the development of its control system will also face many challenges. In order to realize the real-time distribution of the control weight of each operator under the condition of dual-user control, a hexapod robot dual-user control weight distribution method based on the Transparency and Control State (TCS) is designed in this paper. Its dual master and single slave adopt a position-speed interactive mode. By analyzing the real-time transparency and current control status of the system, a trilateral teleoperation control law is constructed, sharing factors are calculated in real time, and a speed tracking mode is adopted to design a system based on haptic force feedback. Control architecture, and use the three-port absolute stability theorem to determine the stable range of the control law parameters. Finally, build a semi-physical simulation experiment platform and verify that the designed trilateral shared teleoperation method can achieve dual-user control of a hexapod robot with high efficiency and safety while taking into account system safety and transparency, and can fully Consider the control intent of dual users.

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历史
  • 收稿日期:2021-03-06
  • 最后修改日期:2021-08-21
  • 录用日期:2021-08-26
  • 在线发布日期: 2021-09-17
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