Master-slave Teleoperation Robot Motion Analysis And Experimental Research

With the development of science and technology and the needs of social development,master-slave teleoperation robot technology has become the focus and hotspot of robot research,and is widely used in mine,atomic energy,deep sea,medical and space fields.Based on the research of master-slave teleoperation robot system at home and abroad,the following research work was carried out:First of all,the software and hardware platform of the master-slave teleoperation robot was built.The Phantom Desktop force feedback master and the WAM arm universal robot arm were analyzed,and the hardware platform was built.Then,based on the object-oriented programming idea,the modular and open software architecture was built,and the software was divided.The adult machine operation interface and the background control algorithm were written in two lines,and finally the construction of the master-slave control platform was completed.Secondly,kinematics analysis was performed on the master-slave teleoperation robot model.The structural model of the master-slave teleoperation robot was analyzed.The master-slave teleoperation robot was modeled by the improved D-H method,and the forward kinematics and inverse kinematics of the robot were solved.The correctness of the model was verified by the MATLAB robot toolbox,and the working space of each robot was analyzed,which is the basis for the subsequent master-slave control research.Furthermore,the origin of the positon and orientation error of the robot was analyzed and the positon and orientation error model of the robot was established,and the influence of the error of the kinematic parameters of the robot on the positioning accuracy of the end point of the robot was analyzed.Finally,Finally,the positon and orientation error of the robot was compensated.Finally,several control methods of the robot master-slave control system: Cartesian space control method and joint control method are analyzed and selected,and the trajectory of the robot was planned and set.The filter eliminates the effects of manual jitter on the accuracy of master-slave control.Finally,the corresponding masterslave control experiment was carried out to realize the motion control of the master robot to the slave robot.