基于任务空间双模式结合的遥操作机器人系统

Design of teleoperation robot system based on a combination of dual-mode under the task space

遥操作技术是空间、深海以及遥远距离等特殊环境下机器人完成作业任务的关键技术。构建了基于PHANTOM手控器及MOTOMAN机器人的遥操作机器人系统平台,能够实现对象的主从抓取、自主抓取以及两者结合抓取等几种抓取任务,并完成人性化用户界面的设计。针对遥操作机器人主从双边存在的时延问题,设计了基于任务空间检测的自主模式和主从模式相结合的遥操作机器人系统工作模式,相比于传统的遥操作机器人系统所采用的工作模式更加省时高效。实验结果表明所提出的工作模式能够满足存在通信时延情况下遥操作机器人完成任务的需要。

Teleoperation technology is the key technology for robot to complete the task in special environment such as aerospace,deep sea,vast distances and so on. The paper builds a teleoperation system platform based on Phantom hand controller and Motoman robot, by this platform we can achieve several grasp tasks such as master-slave grab an object, autonomous grab an object,and grab an object with a combination of the two modes,the paper also complete a friendly user interface design. In order to solve the problem of the the master-slave bilateral teleoperation with time delay, the paper designs a wok mode combined of maste^slave mode and autonomous mode under the task space for teleoperation robot system,it is more time saving and efficient compared to the conventional mode. Experimental results show that the proposed system work mode is able to satisfy the need of teleoperation robot tasks in the circumstance of communication time delay.