Research On Man-machine Interaction System And Motion Planning Algorithm For Telerobot

With the rapid development of teleoperation and related technology, telerobots are applied widely in globalization manufacturing, remote medical service, ocean exploration, space explore and other fields. However, due to the limitations of existing technologies such as artificial intelligence, telerobot can not realize fully autonomous operation for a long distance. Therefore, it is the hot issue to design a friendly interface for teletobot system which can combine the intelligence of human being and the intelligence of robot. At the same time, as the requirement of the task accuracy and operation efficiency is improved continuously in each field which telerobot is applied, and the poor and unknown operating environment for telerobot, the tasks need to be completed fast, accurately and safely by telerobot. Therefore, it has an important significance to optimal the operating trajectory of the robot by using a reasonable method.To solve the above problem, the application of man-machine interaction system and motion planning algorithm for telerobot is studied in this paper. The main research contents are as follows:As the existing man-machine interaction for telerobot system is unfriendly, and the operator can not obtain enough perception information of the operating status, the man-machine interaction mode with dual-virtual model overlapping display is proposed and the operator centered interface is designed. It can avoid the effect of video feedback delay effectively and improve the operating performance of the system.A more realistic potential function is reconstructed for Resolved Motion Rate Control method(RMRC) by improving the method. This method can realize the real-time obstacle avoidance of the robot in three-dimensional space. The robot's obstacle avoidance effect by using this method is simulated with Matlab. Based on this method, a RMRC-based time optimization motion planning algorithm is proposed. It can not only make the telerobot avoid obstacle in the environment, but also can make the operating time optimal. Simulation experiments are made to verify the effectiveness by using Matlab.Finally, a telerobot system based on graphic workstation, man-machine interacton platform, remote server, Motoman-SSF2000 robot and two CCD cameras is established, and the related experiments are carried out in this experimental platform. The experimental results prove that the man-machine interaction mode with dual-virtual model overlapping display and proposed motion planning algorithm are effective and practical.