工业机器人遥操作系统的空间映射与控制策略

Workspace mapping and control strategy for industrial robot teleoperation system

针对工业机器人遥操作系统中存在的主从机器人工作空间差异以及运动控制精度与安全问题,提出了一种工作空间映射算法与位置—速度混合控制策略。首先,将遥操作划分为自由运动和交互两个阶段,在自由运动阶段采用映射算法使主从机器人的工作空间高度覆盖,使主机器人可操控的从机器人运动范围最大化。进一步,在交互阶段设计了一种位置—速度混合控制策略对工业机器人的运动进行准确的控制,使主从机器人的实际位置轨迹准确的跟随,并进一步引入反馈引导力以实现安全的控制。最后在Touch-ABB IRB120主从机器人遥操作实验平台上对所提控制方法进行验证,实验结果表明该方法使得主从机器人运动范围在高度覆盖的同时可以保证遥操作控制的精度。

There are two problems in the industrial robot teleoperation system,one is the difference of workspace between the master and slave robots and the other is the accuracy and safety of the motion control.For these two issues,this paper proposed a workspace mapping algorithm and a position-speed hybrid control strategy.Firstly,it divided teleoperation into two phases:the free motion stage and the interaction stage.The workspace mapping algorithm made the workspace highly covered between the master and slave in the free motion phase,so that the master could control the motion range of the slave to the maximum.Next,it designed a position-speed hybrid control strategy in the interaction phase to accurately control the motion of industrial robot,so that the slave could accurately follow the actual position trajectory of the master.Moreover,it introduced feedback guiding force to achieve safe control.Finally,it did experiments on the Touch-ABB IRB120 master-slave teleoperation platform.The experimental results show that the method can ensure the accuracy of teleoperation control while the workspace highly covers between the master and slave.