Research On Design And Control Method Of Teleoperation System Of Transport Robot

With the development of modern science and technology,the ability of human practical exploration is further enhanced,and the working environment is more and more extensive.The teleoperation robot system has been developed rapidly.At present,the working ability of autonomous robot is limited,and human beings cannot touch the dangerous environment,which makes teleoperation robot become the focus of research.It has been widely used in aerospace,medical,nuclear industry,deep-sea exploration,transportation and other fields.Based on the research of master slave teleoperation system at home and abroad,the following research work will be carried out:Firstly,the structure of master-slave robot in teleoperation system is designed.The main robot adopts a 4 + 1-DOF series manipulator.The design contents include base rotary joint,shoulder joint,elbow joint,wrist joint and end clamping device with force feedback function.According to the stability requirements,the shoulder joint and elbow joint adopt parallelogram redundant structure.Then,the structure design idea of the slave handling robot is summarized,including the targeted design of the gripper.Secondly,the structure of the master-slave robot is analyzed,and the modified DH method is used to list the DH parameter table to solve the forward kinematics solution of the master robot.The solution of the inverse kinematics of the slave robot is divided into two parts.The angles of the first three rotating joints are calculated by geometric method;the last joint is solved based on the pose consistency of the master-slave hand of the teleoperation system.Through the robot toolbox of MATLAB,the master-slave robot is modeled to verify the correctness of the solution,which provides the basis for the research of the control part of the teleoperation system.Then,through MATLAB robot toolbox,the workspace of master-slave robot is solved by Monte Carlo method.The inconsistency of the workspace of the master-slave robot leads to the research of the control strategy.The teleoperation system is divided into two working modes: free mode and interactive mode.Free mode mainly aims at the space utilization of slave robot,while interactive mode aims at the environment where the work content has a certain degree of accuracy.Finally,through the combination of MATLAB / Simulink and Solid Works,the visual simulation of the model is carried out to determine the correctness of the teleoperation system model.Based on the simulation,a teleoperation experimental platform is built to carry out the experiments of position tracking and force feedback of master-slave robot.