基于临场感的遥操作机器人共享控制研究综述

Telerobotic shared control strategy based on telepresence: a review

共享控制策略作为基于临场感的遥操作机器人的主要控制模式,能够充分利用操作者的感知、判断和决策能力,也能发挥出机器人自身的优势.阐述遥操作机器人临场感技术;综述遥操作共享控制策略的发展现状,主要基于触觉反馈引导、运动学限制规避以及共享因子分配等,对各控制策略的原理进行介绍,并梳理和分析遥操作共享控制策略发展中的瓶颈和不足,如共享因素的单一化或僵硬化、时延问题和机器人自主判断能力有限等问题.针对研究存在的局限性,从3个方面对未来的发展提出展望,分别为提升干预水平、加强机器人意图预测、结合机器学习,具有一定的指导意义.

The shared control strategy,as the main control mode of teleoperation robots based on telepresence,can make full use of the operator's perception,judgment and decision-making ability,and utilize to the robot's own unique advantages.The telerobotic telepresence technology was introduced.The development of teleoperation shared control strategy was summarized.The principles of each control strategy were introduced mainly based on tactile feedback guidance,kinematic constraint avoidance and sharing factor assignment.The bottlenecks and shortcomings in the development of telerobotic shared control strategy were analyzed,such as the singleness or rigidity of shared factors,time delay and limited autonomous judgment ability of robots.The future research trends were proposed from three aspects in view of the limitations of the current study,namely,improving the intervention level,strengthening robot intention prediction,and combining machine learning,which have a certain guiding significance.