Design Of 6-dof Master-slave Heterogeneous Robot Control System In Virtual Environment

The master-slave heterogeneous operation robot system is a system that selects an appropriate mapping relationship according to the specific structure and application requirements between the master robot and the slave robot to realize the motion control of the master robot to the slave robot.The system is mainly used in extreme operating environments that are difficult for humans to access,such as the maintenance of nuclear power plant atomic reactors,the development of space and the ocean floor,floods,fire risks,and rescue operations during earthquakes.However,the existing six-degree-of-freedom master-slave heterogeneous robot system mapping algorithm based on the inverse kinematics transformation method has transcendental functions and multiple solutions,resulting in a complicated design of the mapping algorithm and further a large delay in the control system.This paper designed a six-degree-of-freedom master-slave heterogeneous robot system in virtual environment,selected position incremental mapping algorithm,and used a 3-5RUU parallel six-dimensional controller to implement the motion control of a virtual FANUC robot.The main contents of the full text are as follows:First,a 3-5RUU parallel mechanism with closed loops and a FANUC multifunctional robot are selected as the master robot and the slave robot,respectively,and the configuration of the master robot is analyzed.In order to obtain the analytical solution of the positive kinematics of the master robot,analysis is performed on the master robot.The layout of the potentiometer is studied;the closed vector method is used to solve the positive solution of the main robot.Then,the configuration of the slave robot is analyzed.According to the structural characteristics of the slave robot,the parameter coordinate system is established by using the D-H method,and the positive solution analytical solution and Jacobian matrix are obtained.Since there are multiple solutions and transcendental functions for the inverse kinematics of the robot,in order to improve the real-time performance of the system,the inverse kinematics of the slave robot is solved based on the equivalent differential transformation method.Secondly,the serial communication protocol is analyzed.According to the communication protocol,the program of potentiometer signal acquisition is designed by Lab VIEW to realize the acquisition of potentiometer signal.The mapping method of master-slave heterogeneous operating robot system is analyzed.According to the master-slave robot used in this paper,the incremental mapping method principle is determined,and the iterative algorithm is used to establish the mapping model of the system.Finally,Lab VIEW is used to build the master-slave operation robot system experiment platform and carry out the master-slave operation experiment.Matlab is used to analyze the experimental results,and the trajectory of the slave robot following the master robot is made.Then,by studying the relationship between the displacement error of the slave robot following the master robot in a single sampling period and the increment of the master robot,the condition of the master robot's movement is determined to be slow movement.The modeling process and experimental results show that the mapping algorithm is simple and effective,and the system can realize the advance verification and real-time feedback of the slave robot's movement.