Research On Mobile Robot Training And Control Technology Based On Force Feedback And Virtual Reality

With the development of mobile robot technology and force feedback technology,the teleoperation system of mobile robots with force feedback has become a hot spot for researchers at home and abroad.The man-machine interface with force feedback can provide the operator with information about the robot's status and environment,and improve the telepresence of remote operation.In this paper,according to the architecture of bilateral teleoperation,a mobile robot training and control system based on force feedback and virtual reality is designed.A wheel-leg compound mobile robot equipped with a small four-degree-of-freedom manipulator is designed to be used as a slave control object for force feedback teleoperation.The kinematics analysis of the robot body and the manipulator are carried out.The model of the world coordinates of the robot and the speed of each wheel leg is established,and the positive kinematics model of the end of the manipulator and the angle of each joint is established.The motion space of the robotic arm is simulated by MATLAB software.The selection of robot sensing components and the design of teleoperation communication methods are carried out.Aiming at the problem of small working space and low degree of freedom of the current commercial hand controllers,a force feedback hand controller master hand for the teleoperation of mobile robots is designed.The mechanical structure design of the multi-degree-of-freedom force feedback device is carried out,the kinematics and statics analysis of the mechanism are carried out.The forward solution model of the end position and the force feedback torque output formula are derived.The working space of the hand controller is simulated by MATLAB software.The actual range of the end movement of the hand controller is calibrated by the optical capture device to be 473.055mm×532.289mm×484.107 mm.The hardware system design of the multi-degree-of-freedom force feedback master is carried out,including the selection design of force feedback actuators and driving equipment,the design of measurement and control circuit modules,and the design of the software functions of the lower computer.The design of force feedback teleoperation software system is realized.Based on QT,the operation control software was developed to realize the functions of serial communication,video display,and memory sharing.In view of the high cost and poor flexibility of physical training,virtual training simulation software is developed based on the Unity3 D platform,and two force feedback teleoperation control modes in the virtual environment are designed.The construction process and use of the virtual teleoperation task scene are introduced.The virtual force feedback teleoperation control experiment and the real environment teleoperation experiment are carried out.The experiment of virtual teleoperation force feedback direct control mode is carried out.The influence of three conditions of no feedback,low force feedback and strong feedback on the teleoperation task was studied.The results show that the existence of force feedback is conducive to the completion of the task,but excessive force feedback has a negative effect.The virtual training indirect control mode experiment is carried out,the results of the direct control mode are compared and analyzed in the process of completing the same task.The results show that the robot movement efficiency is higher in the indirect control mode,and the robot arm control efficiency is higher in the direct control mode.The force feedback teleoperation experiment in the real environment verifies the stability and effectiveness of the system.The feedback force full-scale error of robot motion control is less than 2.7%,and the feedback force full-scale error of robotic arm grasping control is less than2.5%.A mobile robot training and control system based on force feedback and virtual reality is designed,including a slave mobile robot,a master force feedback master hand,and virtual training simulation software.The effectiveness and reliability of the system are verified through teleoperation experiments.