Research On Path Planning Of Master-slave Isomerism Teleoperation Robot

In the master-slave isomerism teleoperation robot system,the master and slave devices are different in structure,freedom,and workspace.Therefore,the master-slave isomerism system basically adopts the control method of the end position.This type of control only cares about the movement of the end of the arm and does not consider the motion of each joint.Therefore,when the operator operates the master device to control the slave robot to perform remote work in an uncertain environment,the slave robotic arm may be in contact with the obstacle due to improper operation or the like.In view of the above problems,the paper studies the path planning method of master-slave isomerism teleoperation robots from the aspects of master-slave space mapping and path planning of the slave robotic arm.The specific content includes:For the problem that the traditional isomerism teleoperation control method mainly relies on the experience of the operator and affects the efficiency of the operation.The paper proposes a master-slave mapping method based on the operating speed of the master.The subject first analyzes the kinematics of the Phantom Omni device on the master and the Kinova robot on the slave.Secondly,the reachable workspace of the master-slave device is obtained by the Monte Carlo method based on random probability.Then the working principle of constant proportional spatial mapping and incremental spatial mapping is analyzed.On this basis,the master operating speed is taken as the standard,and the operator's actions are divided into different working modes such as normal,fast and fine,so as to reduce operator's pressure and improve work efficiency.For the problem that operator is prone to misoperation and causes collision in the teleoperation control mode,the paper proposes a method and strategy for path planning of slave robot based on collision detection.On the basis of comparing the advantages and disadvantages of three randomly adopted path planning algorithms: PRM,KPIECE and RRT.The subject realizes collision detection of obstacles during robot operation by means of depth camera assistance,and the RRT method is used for path planning.Finally,the thesis constructs the master-slave isomerism teleoperation system on the ROS platform,and carries out the master-slave space mapping algorithm and the path planning method verification experiment.The experimental results show that the method adopted by the subject can reduce the pressure of the master operator and improve the safety of the slave robot.It realizes that the slave robot can reach the target point without collision from the starting point in the master-slave isomerism teleoperation system.