异构型遥操作系统的定位与接触控制研究

与同构型机器人遥操作系统不同，在异构型机器人遥操作系统中，操作者往往对目标物的精确定位和接触力的判断不足，当从机器人接触到外部环境时缺乏良好的临场感，导致操作精度不足。针对此类问题，该文提出了一种基于机器人工作空间转换与直接力反馈结构相结合的目标物定位与接触遥操作控制方法。该方法首先将机器人的关节空间转换到工作空间，再对异构型主从机器人不同的工作空间进行映射匹配，然后在直接力反馈式的遥操作结构下与力传感器共同作用，并辅以摄像机，使得操作者可以精确地操作远端环境中的机器人，从而准确地接触到目标物及获取目标物的位置，进一步准确判断从机器人在外部环境中所接触到的物体属性。该方法借助力反馈进行目标物定位与物体属性判断，较之复杂的机器人视觉标定方法更加简单易于操作，其有效性也在搭建的异构型机器人遥操作实验平台上得到了验证。

Research on Location and Contact Control of Heterogeneous Teleoperation Systems

Compared to homogeneous robotic teleoperation system, the human operator is often unable to judge the location and contact force of the target precisely in heterogeneous robotic teleoperation system. Consequently, when the slave robot contacts the external environment, the telepresence is insufficient for the operator. For this problem, this paper proposes a control method of location-contact control for heterogeneous teleoperation system. The proposed method combines the task-space conversion of the robots and the architecture of direct force feedback. First, the joint-space of the robots is converted to the task-space, and the task-space of the heterogeneous master and slave robots is mapped and matched. Then, a force sensor is incorporated to the architecture of direct force feedback and the camera plays a subsidiary role. Therefore, the operator can accurately operate the remote slave robot to contact the target and obtain the position of the target, and further determine the property of the target that the slave contacts in the external environment. By employing force feedback, this proposed method locates the target and determines its properties, and it is simple and easy to operate compared to the complicated robot vision calibration method. The effectiveness of the proposed method is verified by experiments on a developed heterogeneous teleoperation system.