基于虚拟现实的遥操作工程机器人系统研究
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摘要
遥操作机器人技术是当前机器人技术的研究热点之一,也是机器人领域一个非常有前途的发展方向。在遥操作机器人系统中采用虚拟现实技术为操作者提供视觉、力觉反馈,有助于操作者更好地掌握工作现场的信息,提高遥操作作业的工作效率。
本文结合国家自然科学基金项目(编号:50475011)和教育部优秀青年教师资助计划项目“遥操纵工程机器人的新型力觉双向伺服控制”,依托于吉林大学机械电子工程实验室的遥操作工程机器人实验平台,在虚拟现实及力反馈技术方面进行了如下内容的创新性研究:
1.为解决遥操作系统的视频设备在信号传输能力方面的不足,采用虚拟场景技术构建虚拟工作现场,根据工作现场机器人的液压缸位移信号采用运动学正解的方式实现虚拟机器人的运动,避免了视频设备信息量大而视野狭小的缺点,提高了系统的实时操作性。
2.通过三目摄像机在虚拟场景中对工作现场进行重构,在保证虚拟场景与工作现场具有高度一致性的前提下,降低了网络传输的信息量,提高了遥操作系统的实时性与视觉效果。
3.在常用的大型局域网中,建立了能够实现实时操作、遥编程等多种操作方式的遥操作通信系统。针对遥操作系统对实时性要求较高的特点,采用TCP协议和UDP协议混合通信的方法解决主端与从端多种数据的实时通信问题,采用异步套接字的方式进行数据接收,采用时间同步的方法保证主从两端工作时间的一致。
4.探讨了采用系统辨识进行工程机器人的机械臂重力补偿的控制策略,以消除在力反馈控制过程中重力附加力的干扰。另根据动力学解算提出了一种实用的变增益力反射策略,由该策略构建的力反馈系统有助于操作者更好地感知从手与环境之间的作用力。并通过实验验证了上述控制策略的可行性。
实验证明,依据前述创新点构建的遥操作系统操作性能良好,并能提供良好的视觉及力觉反馈,满足遥操作任务的需求,是一项具有良好应用前景的新技术。
Teleoperation robot technology is a branch of robot technology like the industrial robot technology. In a teleoperation robot system, the operator and the perform part are separated and placed to different positions. In the meantime, the operator is included into the control loop and performs the control and decision-making task. By such a structure, the teleoperation system can implement complicated tasks in a extreme environment. Since the 90's in the last century, along with the development of the virtual reality and the network technology, the Teleoperation technique develops continuously combine with other technical realms such as the medical treatment, disaster spots, space and the ocean explore etc. Remarkable achievements have been made.
Now, Virtual Reality in teleoperation technology are warmly focused on. In the teleoperation system, human is a part of the control loop, so the system must be fit for human. The Virtual Reality technology is a valid means that provides the operator a immersed world, in which the operator can contact with the work spot freely. The achievements of Virtual Reality on improving vision and force telepresence and solving problems like time-delay have already been generally accepted.
This Ph.D. dissertation developed under the project named“Force bilateral servo control of the teleoperation six-degrees-of-freedom (6 DOF) hydraulic parallel manipulator (No.50475011)”supported by National Natural Science Foundation of China and“Study on new type force sense bilateral servo control of teleoperation construction robotic”supported by Excellence Youth Teacher State Program of Ministry of Education (2003). This dissertation aims at the virtual reality system and the control theory as well as the control strategies of master-slave teleoperation system. The following titles are researched:
1.A Virtual Reality system suitable for teleoperation system is built up, which has a great assistance function to the teleoperation system. To get the information from the work spot, 3D object reconstruction is adopted based on image processing with a Digiclops device first interiorly. In such a way, a substitute of the work object is reconstructed in the Virtual Reality environment, which can be used to provide the operator the vision information from the work spot. With such a method, the work object at the work spot can be created in the master part with simple information so that the operator can get vision information with less time delay.
2.A new teleoperation system communicating by LANs is built consists of force feedback manipulator as master part and electron-hydraulic servo system as slave part. The operator in the system can be feedback by various information including video camera, virtual environment and the force feedback etc. Aiming at the control of the Teleoperation system has high real time request and the communication between the master part and slave part has the characteristics of various datasets, each kind of the data is divided into different types according to the accuracy, data size and mission etc. The types of data includes the space information, the time information, the teleprogramming orders, the system order and the text information etc. A communication system receive data by asynchronism series is set up. To keep the synchronization of master and slave parts, the time adjustment function is added in the system.
3. The gravity compensation method by system identification is discussed for the first time interiorly. Based on the mathematical model of electron-hydraulic servo system and dynamic model of the engineering robot, the gravity parameters are abtained by least squares. The algorithm is proved to be available by experiment in the teleoperation system.
4. A gain-switching force feedback algorithm is built up for the folkglove of the robot. The algorithm decreases the force arosed by inertia and damp force by dynamical parse, and it is proved to be available in the teleoperation system.
The dissertation also includes the following parts:
1.The following contents are in the first part: the application of the normal hydraulic teleoperation system, the latest achievement of virtual reality and how to use virtual reality to improve the performance of the teleoperation system.
2. The overall of the system are expatiated, including the following parts: the master-slave system, the video system, the object reconstruction system and the timer. Each part is introduces as the constitutes and it’s function in the teleoperation system.
3. To the time delay and increase the visual field of the video system. A virtual enviorment is built for vision feedback. According to hydraulic cylinder length and the kinematics model of the slave robot, the pose of the robot is simulated on-line. Such a system increases the vision feedback capiblity of the teleoperation system.
4.An overall analysis was carried on toward the mathematical model of the the Master-slave system: the kinematics model, dynamical model and electron-hydraulic servo system mathematical model of the 2-DOF hydraulic force feedback manipulator are built up. Also the simplified dynamics model and electron-hydraulic servo system linearized mathematical model servo model of the 4-DOF robot in the slave part are built up.
It is proved by experiments that the teleoperation system performs well on real-time operation and provides the operator good vision and force feedback. So that it can be used to implement an engineering teleoperation task.
本文结合国家自然科学基金项目(编号:50475011)和教育部优秀青年教师资助计划项目“遥操纵工程机器人的新型力觉双向伺服控制”,依托于吉林大学机械电子工程实验室的遥操作工程机器人实验平台,在虚拟现实及力反馈技术方面进行了如下内容的创新性研究:
1.为解决遥操作系统的视频设备在信号传输能力方面的不足,采用虚拟场景技术构建虚拟工作现场,根据工作现场机器人的液压缸位移信号采用运动学正解的方式实现虚拟机器人的运动,避免了视频设备信息量大而视野狭小的缺点,提高了系统的实时操作性。
2.通过三目摄像机在虚拟场景中对工作现场进行重构,在保证虚拟场景与工作现场具有高度一致性的前提下,降低了网络传输的信息量,提高了遥操作系统的实时性与视觉效果。
3.在常用的大型局域网中,建立了能够实现实时操作、遥编程等多种操作方式的遥操作通信系统。针对遥操作系统对实时性要求较高的特点,采用TCP协议和UDP协议混合通信的方法解决主端与从端多种数据的实时通信问题,采用异步套接字的方式进行数据接收,采用时间同步的方法保证主从两端工作时间的一致。
4.探讨了采用系统辨识进行工程机器人的机械臂重力补偿的控制策略,以消除在力反馈控制过程中重力附加力的干扰。另根据动力学解算提出了一种实用的变增益力反射策略,由该策略构建的力反馈系统有助于操作者更好地感知从手与环境之间的作用力。并通过实验验证了上述控制策略的可行性。
实验证明,依据前述创新点构建的遥操作系统操作性能良好,并能提供良好的视觉及力觉反馈,满足遥操作任务的需求,是一项具有良好应用前景的新技术。
Teleoperation robot technology is a branch of robot technology like the industrial robot technology. In a teleoperation robot system, the operator and the perform part are separated and placed to different positions. In the meantime, the operator is included into the control loop and performs the control and decision-making task. By such a structure, the teleoperation system can implement complicated tasks in a extreme environment. Since the 90's in the last century, along with the development of the virtual reality and the network technology, the Teleoperation technique develops continuously combine with other technical realms such as the medical treatment, disaster spots, space and the ocean explore etc. Remarkable achievements have been made.
Now, Virtual Reality in teleoperation technology are warmly focused on. In the teleoperation system, human is a part of the control loop, so the system must be fit for human. The Virtual Reality technology is a valid means that provides the operator a immersed world, in which the operator can contact with the work spot freely. The achievements of Virtual Reality on improving vision and force telepresence and solving problems like time-delay have already been generally accepted.
This Ph.D. dissertation developed under the project named“Force bilateral servo control of the teleoperation six-degrees-of-freedom (6 DOF) hydraulic parallel manipulator (No.50475011)”supported by National Natural Science Foundation of China and“Study on new type force sense bilateral servo control of teleoperation construction robotic”supported by Excellence Youth Teacher State Program of Ministry of Education (2003). This dissertation aims at the virtual reality system and the control theory as well as the control strategies of master-slave teleoperation system. The following titles are researched:
1.A Virtual Reality system suitable for teleoperation system is built up, which has a great assistance function to the teleoperation system. To get the information from the work spot, 3D object reconstruction is adopted based on image processing with a Digiclops device first interiorly. In such a way, a substitute of the work object is reconstructed in the Virtual Reality environment, which can be used to provide the operator the vision information from the work spot. With such a method, the work object at the work spot can be created in the master part with simple information so that the operator can get vision information with less time delay.
2.A new teleoperation system communicating by LANs is built consists of force feedback manipulator as master part and electron-hydraulic servo system as slave part. The operator in the system can be feedback by various information including video camera, virtual environment and the force feedback etc. Aiming at the control of the Teleoperation system has high real time request and the communication between the master part and slave part has the characteristics of various datasets, each kind of the data is divided into different types according to the accuracy, data size and mission etc. The types of data includes the space information, the time information, the teleprogramming orders, the system order and the text information etc. A communication system receive data by asynchronism series is set up. To keep the synchronization of master and slave parts, the time adjustment function is added in the system.
3. The gravity compensation method by system identification is discussed for the first time interiorly. Based on the mathematical model of electron-hydraulic servo system and dynamic model of the engineering robot, the gravity parameters are abtained by least squares. The algorithm is proved to be available by experiment in the teleoperation system.
4. A gain-switching force feedback algorithm is built up for the folkglove of the robot. The algorithm decreases the force arosed by inertia and damp force by dynamical parse, and it is proved to be available in the teleoperation system.
The dissertation also includes the following parts:
1.The following contents are in the first part: the application of the normal hydraulic teleoperation system, the latest achievement of virtual reality and how to use virtual reality to improve the performance of the teleoperation system.
2. The overall of the system are expatiated, including the following parts: the master-slave system, the video system, the object reconstruction system and the timer. Each part is introduces as the constitutes and it’s function in the teleoperation system.
3. To the time delay and increase the visual field of the video system. A virtual enviorment is built for vision feedback. According to hydraulic cylinder length and the kinematics model of the slave robot, the pose of the robot is simulated on-line. Such a system increases the vision feedback capiblity of the teleoperation system.
4.An overall analysis was carried on toward the mathematical model of the the Master-slave system: the kinematics model, dynamical model and electron-hydraulic servo system mathematical model of the 2-DOF hydraulic force feedback manipulator are built up. Also the simplified dynamics model and electron-hydraulic servo system linearized mathematical model servo model of the 4-DOF robot in the slave part are built up.
It is proved by experiments that the teleoperation system performs well on real-time operation and provides the operator good vision and force feedback. So that it can be used to implement an engineering teleoperation task.
引文
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