Research On The Technique Of Teleoperation Based On The Multi Degree Of Freedom Manipulator

Due to the complexity of the environment structure,the current level of intelligent robot can not complete the task of autonomous environment.This paper focuses on the master-slave teleoperation robot in unknown unstructured environment accurately follow,from the end of the mechanical arm of the main end operator from the end of environmental perception is proposed on Multiple DOF master-slave arm image based on virtual force telepresence teleoperation technology.In the process of master-slave teleoperation,the operator of the main manipulator is to complete the task from the end of the manipulator by the information,such as image,force,position and so on.Because from the end of mechanical arm at the far end,the distance from the end of the operator arm distance,not actual experience from the end of the mechanical arm position relative to the real environment,can not be accurately learned from the end between the robot and work object distance depend s on the operator's proficiency from the end of robot task level,resulting master-slave control system is practical the operation efficiency is low.At the same time,widely used in virtual fixture control in master-slave teleoperation virtual pipeline according to the specific environment of software modeling,usually require the task space pre scanning and sampling,and then construct the virtual environment model is established,the corresponding virtual pipe clamp.Pre modeling can not deal with the complex and unstructured environment.In order to solve these problems,this paper establishes the model of point cloud by using the artificial potential field method to establish the artificial potential field.The main building stable end force telepresenc e system,the operator from the main end manipulator movement process by means of force feedback device can fully feel the virtual environment from the end of attraction repulsion,the operator can feel the force,fast approaching the operation object,avoid obstacles operator boot process in force.The combination of system control strategy in the design process,the main terminal operator decision accuracy and efficiency of the mechanical arm,improve the working efficiency of the robot,reduce operation pressure,reduce the operator proficiency requirements,to achieve a high degree of integration of human-machine interaction.To sum up,the thesis designs and realizes the system based on C++ and PCL1.6.0 in VS2010 platform and Matlab 2010 b.