面向配网带电作业的主从遥操作机器人系统设计

Design of Master-Slave Teleoperation Robot System for Hot-Line Work

针对配网带电作业机器人研制需求,设计了一种具备力觉临场感的主从遥操作系统。首先,采用串、并联机械臂和六维力/力矩传感器搭建了遥操作机器人系统硬件,并基于ROS(Robot operating system)设计了主从遥操作系统软件,实现了主、从臂之间的位姿和力信息交互;其次,通过将主臂末端位置和姿态分别与从臂手腕位置和末端姿态相映射,显著降低了6自由度异构型主从机器人的逆运动学求解复杂度,建立了主从臂之间的位姿映射模型;最后,样机试验结果表明所设计的主从遥操作系统能有效实现由主臂到从臂的位姿映射以及由从臂到主臂接触力反馈,位置跟踪误差达到毫米级,姿态跟踪误差小于1.15°,力反馈误差小于1.8%。

With the view of a hot line work robot development,a master-slave teleoperation system with tactile telepresence is designed in this paper.Firstly,the hardware of the system is composed of a haptic parallel-type manipulator,a series-type manipulator and a 6DOF(degree of freedom)force/torque sensor.The software is designed based on the ROS platform,which realizes information interaction between the master and slave arms.Experiment results shows,this master-slave teleoperation system is able to realize the position and orientation tracking and touching force feedback between the master-and slave-arm,and the accuracy of tracking is up to millimeter-scale in linear,1.15-degree in angular and the error of force feedback is lower than 1.8%.