基于人工势场的机器人遥操作安全预警域动态生成方法

A Method For Generating Dynamic Security Warning Region in Robotic Teleoperation Based on Artificial Potential Field

为了避免机器人遥操作过程中,机器人与环境物体不必要的碰撞,以及解决"运动-等待"现象影响机器人系统安全性和效率的问题,提出了基于人工势场生成动态安全预警域的算法.该算法根据等势面原理生成的预警域既可以实时地检测机器人与环境物体的距离,又可以根据机器人的速度和加速度划定一个相对安全的区域,避免机器人在下一时刻因为速度过快与环境物体发生碰撞.最后搭建遥操作实验平台,进行了机器人在预警算法的辅助下快速抓取目标的实验.实验证明,该算法可有效提高远程机器人遥操作的安全性和效率.

In order to avoid unnecessary collisions between robotic manipulators and environmental obstacles and to solve the problem that the ＂move-and-wait＂ phenomenon affects the security and efficiency of the robot system during robotic teleoperation.an algorithm for building dynamic security warning region based on artificial potential field is presented.The security warning region built by the algorithm based on equipotential surface theory can not only detect the distance between the robot and the environmental obstacles,but also provide a relatively secure region based on the velocity and acceleration of the robot to avoid collision in case the robot moves too fast at next time.Finally,a robotic teleoperation platform is built to run the quickfy-grab-target experiment with the help of the warning algorithm.Experiment proves that the algorithm is able to enhance the security and the efficiency of the robotic teleoperation.