Research On Human-robot Interaction System Oriented To Operation Task

In the face of complex humanoid operations in disaster relief and other environments,autonomous operation and teleoperation of robots are still relatively complex issues.Autonomous systems need to solve problems such as object recognition,positioning,and obstacle avoidance,but simple teleoperation systems need to deal with communication problems such as information loss and delay,and provide operators with timely and appropriate feedback and environmental awareness.In order to cope with the difficulties faced by the above two methods,this paper studies a remote robot interactive system for operating tasks based on the ROS(Robot Operating System)platform,analyzes the robot interaction system architecture,kinematics schemes and motion planning methods,and human-robot interaction software that integrates task-level operations,master-slave teleoperation and joint operation modes,and virtual interactive simulation functions is designed to allow operators to effectively supervise and control remote robots at different levels.In this paper,based on the analysis of the needs of human tasks in disaster environments,a robot interactive system platform is built,and a general scheme of a remote robot interactive system based on the ROS platform is proposed.In order to make the interactive system effectively deal with complex operation tasks,the overall motion analysis of the robot was carried out,including full-body joint kinematics analysis and mobile platform kinematics analysis.A whole-body motion strategy based on operational flexibility is provided,which provides a basis for the implementation of the overall control scheme of the interactive system.For the complex operation tasks faced by the system,this paper proposes a planning method based on task decomposition and classification.This method decomposes the tasks step by step,expresses them as a sequence of subtasks described by basic motion,and performs a general subtask classification.At the same time,the research on motion constraints of typical tasks was carried out,and the collision avoidance path algorithm based on constraint optimization and the motion planning implementation method described by basic motion were determined.The easy-to-operate interactive software is very important for ordinary users.Therefore,this paper proposes a design method of human-robot interactive software based on Qt and ROS platform,which includes the design of software user interface and functional nodes.The design of the user interface involves hierarchical main control interface design,auxiliary function interface design and virtual scene interface construction.The hierarchical main control interface is mainly composed of a single joint debugging module,joint group control operation module,convenient teleoperation module and task planning module;The function nodes are based on the ROS message communication mechanism and Qt's multi-thread and signal slot mechanism.At the same time,the design process of each control node,virtual scene and state node is analyzed in detail.In the last part of this paper,a robot physics simulation platform was built based on Gazebo and the interactive process was designed.The real robot platform was simulated to test the interactive system function.Through the typical tasks of opening doors and screwing valves,the feasibility of the design scheme of the robot interactive system proposed in this paper is verified.