Research On A Master-slave Interactive Control System Of A Hydraulic Manipulator

Since the birth of robotics and robotics theory,due to its high operating accuracy,sustainable work and wide operating environment,it has been used in many fields and has played an important role in the development of modern society.However,with the deepening of human exploration,the work environment faced by them is becoming more and more diverse,so there is a need for robots to replace human operations.However,in some workplaces where humans cannot enter due to the dangerous working environment and the environment is complex,it is difficult for robots to complete the tasks independently.Therefore,in order to solve the above problems,it is necessary to study the master-slave control robot system based on humancomputer interaction.Master-slave teleoperation technology can combine the characteristics of humans and robots,and can simultaneously show humans' powerful learning capabilities,analytical processing capabilities,accurate judgment capabilities,and robots' ability to work in stable,accurate,and harsh environments.At present,the research on master-slave teleoperation has made great progress.There are many ways to design the master-slave manipulator.In order to be able to adapt to more operating environments,this article is in the master-slave isomorphic control system.On the basis of this,a master-slave heterogeneous teleoperation control system based on the remote lever handle is proposed.For the master-slave hydraulic manipulator designed in this thesis,because the mass of the slave arm is larger,in order to improve the safety of the slave arm during the operation,and at the same time,in order to make the operation feel the follow-up situation of the slave arm to the master arm,so This thesis adopts a force feedback method related to the position error of the master and slave arms.In order to optimize the control effect of the slave-side working manipulator,this thesis derives the master-slave control control model by deriving the mathematical model of the slave-side hydraulic manipulator,and designs a PID controller.In order to enable the master-slave hydraulic The manipulator system can better adapt to a variety of operating environments,and in view of the non-linear characteristics of the slave-end hydraulic manipulator,this thesis uses a fuzzy algorithm to design a Fuzzy PID controller on the original basis.The main research contents of this article are:1.The overall architecture of the master-slave control manipulator system is designed,which mainly includes: the mechanical structure design of the master-side operating manipulator and the slave-side working manipulator,the analysis of the six-degree-of-freedom hydraulic manipulator servo system and the design of the master-slave man-machine interactive control system.2.According to the designed mechanical structure of the master-slave manipulator and the joint parameters of the manipulator model,the kinematics characteristics of the manipulator are analyzed,including: the establishment of the DH model of the slave-operating robot arm,and the forward and inverse kinematics analysis of the slave-operating robot arm And from the end work robot arm based on Monte Carlo workspace analysis.3.Aiming at the six-degree-of-freedom robotic arm for remote operation proposed in this paper,a teleoperation planning method based on the joystick handle is proposed,which increases the selectivity of the control system.This control method has two operation modes:multi-joint linkage and single-joint independent action.Through the inverse kinematics analysis of the manipulator,the angular displacement of each degree of freedom of the manipulator is limited,and the singular solution of the manipulator's pose is eliminated.The planning of master-slave manipulator teleoperation control.4.A new force-position master-slave control strategy of force feedback is introduced.Aiming at the master-slave hydraulic servo system designed in this paper,a PID controller is designed.The slave arm receives the angle information from the master arm,and according to the angle deviation of each joint,realizes the slave end operation robot arm to the master end operation machine in the PID mode.Position tracking of the arm.The mechanical structure model of the master-slave manipulator is established in VREP,and the visual simulation of the following situation of the master-slave manipulator in VREP is realized.A Fuzzy-PID controller is designed for the boom joints of the robotic arm from the end.The fuzzy control algorithm is used to adjust the three PID control parameters in real time,and the simulation experiment proves that the new controller has better dynamic control effects.