配网带电作业机器人的人机共融控制系统设计

Human-robot Shared Control System for Distribution Network Live Working Robot

提出了一种用于配电网机器人作业的共融控制系统,该系统具有动态的控制权重分配以实现遥操作和自主导航的切换。系统赋予了本地操作员最高的控制权限,本地端手柄设备实时检测用户的输入力,其结果用于生成机器人自主性和用户远程控制的权重。控制系统可以确保专业操作员和机器人自主的两个命令的同步,并将它们结合起来确定远程机器人的运动。在实验室构建的机器人平台上的实验结果表明了该方法的有效性。通过多组跟踪目标点实验进行了测试,以比较纯手动远程控制和所提出的融合控制方法的综合性能。实验结果表明,与纯手动控制相比,人机共融控制器提高了跟踪的成功率和效率。

In this paper,a shared control system for distribution network robot operations is proposed with dynamic shared weight assignment to enable switching between teleoperated and autonomous navigation agents.The system grants the highest control authority to the local operator.The local end-handle device detects the user's input force in real time and the results are used to generate shared weights for robot autonomy and user remote control.The control system ensures synchronization of the two commands of the professional operator and robot autonomy and combines them to determine the motion of the remote robot.Experimental results on a laboratory-built robot platform demonstrate the effectiveness of the method.Tests are conducted with multiple sets of tracking target point experiments to compare the combined performance of purely manual remote control and the proposed shared control approach.