Research On Force Feedback Teleoperation Control Strartegy Based On Humamn Movement Characteristics

It is hard to accomplish the goal that the robot can perform the task autonomously in unknown and complicated environment due to the development of control methods,artificial intelligence and sensor technology in the current stage,teleoperation robot technology emerges as the times require.In this way,human beings can overcome the distance and environmental barriers to accomplish remote operation in high-risk or inaccessible environments.There are poor performance and low telepresence problems in traditional telerobot because it is manipulated directly by the operator,although teleoperation has been widely used in telemedicine,space exploration and and nuclear applications.In the teleoperation system,the operator can manipulate master-hand to perform various actions with the feedback of visual,auditory and haptic,and the teleoperation system controls the robot to reproduce the movement of the operator.As the medium between human and robot,the performance of the teleoperation system determines the performance of the task.In this paper,some problems of teleoperation system are discussed,including the kinematic mapping method,the influence of human motion characteristics and the force feedback technology.The main work is as follow:Firstly,set up the teleoperation system and establish the kinematic mapping method between the master and slave.The kinematics analysis of the master and slave has completed and the workspace of the master and slave hand are solved respectively by using envelope method and numerical method.The kinematic mapping method between hybrid connected structure and series structure is proposed,including the coordinate system transformation method derived from the principle of hand-eye coordination in operation habits of human beings,the master-slave position mapping and the posture mapping method.Realize the kinematic mapping method of the heterogeneous master-slave system finally.Secondly,this paper focuses on the limitations of human in freehand operation and further studies the teleoperation assisted control strategy.The strategy uses the hidden Markov model to identify the operator's intention of movement,uses the variable proportional control method to provide online correction to the operator's motion input,which weakens the operator's motion error.Thirdly,on the premise of not sacrificing the stability of the teleoperation system,a force feedback control scheme based on the online estimation of environmental parameters is proposed.This scheme draws on the advantages of good stability of the traditional position-position control scheme and good telepresence of the position-force control scheme.The RLS algorithm is used to realize the online estimation of the environmental dynamics parameters,so that the contact force based on the model is fed back to the operator.Ultimately enhance the operator's telepresence in remote tasks.Finally,an experimental platform was set up based on the robot operating system and the above algorithm were verified in the experiments.Results show that the application of the above methods teleoperation system can provide good handling to the operator in teleoperation.