移动操作机器人及其共享控制的力反馈遥操作研究
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摘要
移动操作机器人相比于固定操作机器人具有更大的操作空间和更强的操作灵活性,成为机器人领域研究的热点方向之一。机器人借助传感器完全自主的完成指定的作业任务,特别是极限环境下的作业任务是智能机器人研究的最终目标。限于目前的科技水平,机器人很难完全自主的完成所有作业任务。将机器人的局部自主与网络遥操作相结合,组成基于共享控制方式的遥操作系统,实现人机智能的结合能极大的提高机器人实现复杂、动态、极限作业任务的能力。基于共享控制方式的移动操作机器人遥操作系统研究的几个重要问题包括移动操作机器人研制、提高移动操作机器人自主能力的方法研究和辅助操作者提高操作效率的方法研究。本文针对这几个方面,首先研制一台移动操作机器人,然后从提高机器人自主性方面研究该机器人的自主运动规划方法,最后从辅助操作者提高操作能力方面研究了移动车和操作臂的时延力反馈遥操作控制问题。
针对共享控制遥操作应用背景,研制了一台轮式全方位移动操作机器人。该移动操作机器人具有冗余的网络通信结构,能够可靠的与控制网络通信。移动车采用三轮全驱结构,能够实现全方位运动,车体设计成圆桶型结构,适合于狭窄的运动空间。车轮模块采用差动驱动结构,结构简单,布线方便,车轮的转向不受角度范围的限制。操作臂设计成串联六自由度结构,末端三个关节的轴线交于一点具有解析逆解,方便控制。移动操作机器人上配置了红外测距、超声测距、超声定位、数字罗盘、编码器、摄像头、温度、六维力/力矩等多种传感器,为实现机器人的局部自主提供了硬件条件。该全方位移动操作机器人具有9个自由度,属于冗余机器人,针对冗余机器人逆运动学求解问题提出了一种基于遗传信赖域算法的冗余机器人逆运动学求解方法,并利用关节局部优化及解析方法将遗传信赖域算法的求解简化为两维目标函数的最优化问题,提高了优化算法的搜索速度。
移动操作机器人自主运动规划是其自主性的重要内容,运动规划包括路径规划和轨迹规划。传统人工势场法用于移动机器人路径规划容易出现局部极小点、目标不可达和规划路径抖动等问题,为了克服传统方法的缺点提出了一种基于信赖域算法优化的改进人工势场法的自主路径规划方法。首先建立改进的人工势场模型,然后在改进人工势场模型基础上将各种势场强度用代数和方式叠加,最后用信赖域算法搜索机器人在一个采样周期中移动范围内的势场强度之和最小的点,多个最小点构成全局优化路径。信赖域算法具有快速收敛特性,能够满足算法的实时性要求。对于操作臂的轨迹规划问题,为了保证控制的实时性,采用基于关节空间的轨迹规划方法实现操作臂的轨迹规划。
操作臂体现移动操作机器人的操作能力,对其进行高效的遥操作控制能够提高移动操作机器人共享控制遥操作系统的操作性能。力反馈为操作者提供力觉临场感,能够大大提高操作者操作的效率。网络传输时延却影响了系统的作业性能,甚至引起系统的不稳定,必须对其进行时延控制。基于无源性理论的波变量法能够保证系统在任意时延下的稳定性,但是其透明性较差。本文针对具有多个自由度操作臂的力反馈遥操作控制问题,首先扩展了通用的多自由度遥操作系统的波变换公式。为了克服波变量方法透明性差的问题,将波预测方法用于变时延遥操作系统,并针对变时延和预测模型不精确等给遥操作系统主从端带来的稳态位置误差问题,提出了一种从端校正控制方法。该方法与主端校正控制方法相比,不但能消除由于变时延和数据丢包引起的稳态位置误差,而且能够修正由于预测模型不精确引起的稳态位置误差。针对从端机器人模型不断变化的遥操作任务,提出使用适应性波预测器的方法来应对模型的变化,并设计了适应性波预测器的运行策略。实验证明了方法的有效性。
移动车体现了移动操作机器人的移动能力,对移动车的遥操作能够补充其自主运动的不足,并且移动车和操作臂的遥操作相结合能够充分发挥移动操作机器人遥操作系统的“移动”和“操作”特性。首先研究了移动车力反馈遥操作控制的策略,并针对移动车的力反馈遥操作问题,提出了将波预测方法用于三通道遥操作控制结构,充分利用波变量方法、预测技术和三通道结构丰富的通道参数,在保证时延遥操作系统稳定的基础上提高其透明性。
建立了基于网络的遥操作实验系统,实现了移动操作机器人在较大范围内搬运放置物体的实验,将运动学求逆解方法、自主运动规划方法、移动车和操作臂的力反馈遥操作控制方法应用于实验中验证了所提方法的有效性,为实现移动操作机器人的共享控制遥操作奠定了理论和技术基础。
Mobile manipulator has both mobile and operational capacity, and has larger operating space and better operational flexibility. It is a hot research focus in the robot research area. It is the ultimate goal of intelligent robots research to make the robots with sensors complete the specified operation task autonomously. However, being confined to the current technological level, it is difficult for robots to complete all work tasks autonomously. The combination of part autonomy and network teleoperation of the robots to realize the integration of artificial intelligence can greatly improve its ability to fulfil complex and dynamic operational tasks. The important issues of shared control based mobile robot teleoperation system including mobile manipulator design, the method of improving robot autonomy and the method to support operator improve operational efficiency. In this paper, it developed a mobile robot firstly, and then studyed the self-autonomy motion planning, and finally researched the force-feedback time-delay compensation method for mobile platform teleoperation and manipulator teleoperation.
In allusion to the application background of control-sharing teleoperation, we studied an omni-directional wheeled mobile manipulator. The mobile manipulator has redundant network communication structure, which can communicate with the control network reliably. The mobile platform employs three-wheel all driving structure, which can realize omni-directional motion and is suited to narrow movement space. The wheel module employs differential drive structure which is simple and easy wiring and the turning of the wheels is free of the restrictions of angle range.restrictions. The manipulator is designed as series of 6-dof structure, and the axis of the end’s three-axis intersect at one point with analytic inverse solution, so that it’s easy to control. Mobile Manipulator configured infrared ranging, ultrasonic ranging, encoders, ultrasonic positioning, digital compass, camera, temperature, six-axis force / force moment and many other sensors, which provide the conditions for the robot to realize local autonomy. Omni-directional Mobile Manipulator has nine freedom, and it belongs to redundant robot. In allusion to the IKP of redundant robot, this paper proposes a kinematic inversion method based on the combination of genetic trust reign algorithm and analytical solutions. It can calculate the inverse of the robot rapiddly.
Real-time motion planning of mobile manipulator is an important part of its autonomy. Motion planning includes path planning and trajectory planning. Using the traditional artificial potential field for mobile robot path planning prone to raise problems of local minimum point and destination failure and so on. In order to overcome the shortcomings of traditional methods an improved artificial potential field method is proposed. We build up an improved artificial potential field model, and based on this we get the algebraic superposition of all kinds of potential field strength, and we use trust reign algorithm for searching for the minimum point of the sum of potential field strength within a sampling period of moving range, and a number of minimum points constitute the global optimal path. Trust reign algorithm has the character of rapid convergence, and the algorithm can satisfy the real-time requirements of arithmetic. For manipulator trajectory planning, in order to ensure the real-time control, we employ the trajectory planning method based on joint space to real-time plan the trajectory of Manipulator.
Manipulator represents the operational of the mobile manipulator, and its efficient teleoperaton can improve the operating performance of shared control teleoperation system of the mobile manipulator. Force-feedback technology in teleoperation system provides the operator with a force telepresence, which can greatly enhance the efficient operation of the operator. However, network transmission delay has greatly affected the operational performance of the system, and even cause system’s instability. Wave variable method based on passivity can ensure system’s stability with arbitrary time delays, but with poor transparency. In allusion to the force feedback teleoperation of manipulator with multiple degrees of freedom controlling problem, firstly, a universal wavelet transform formula is established for teleoperation system with multi-degree of freedom, and in order to overcome the problem of poor transparency of wave variable method, the wave prediction method is used to time-delay teleoperation system, and in allusion to the steady-state error of the master and slave end of teleoperation system caused by variable time delay and inaccuracy of the prediction model, forward correction controlling method is proposed which can effectively decreace the steady-state position error. For the changing teleoperation system’s task for the robot model, the method of using adaptive wave predictor to deal with the changes of the model is proposed, and the work strategies of the adaptive wave predictor is designed.
Mobile platform represents the mobility of the mobile manipulator, teleoperation of mobile platform can complement its lack of autonomous movement, and combining the teleoperaton of the mobile platform and manipulator can give full play of "mobile" and "operation" feature. The force feedback controlling strategy of mobile vehicle is studied, and for the problem of the force feedback teleoperation of mobile vehicle the combination of wave variable method and prediction technology and multi-channel teleoperation control is proposed, which can improve its transparency while ensuring the system’s stability.
We established a web-based teleoperation experimental system, and achieved the experiment of making the robot carry and place objects in large region, and applied dynamic programming method、mobile vehicles and manipulator’s force feedback teleoperation controlling method into experiments to verify the effectiveness of the proposed method, and this lays the foundation for the realization of shared remote controlling.
针对共享控制遥操作应用背景,研制了一台轮式全方位移动操作机器人。该移动操作机器人具有冗余的网络通信结构,能够可靠的与控制网络通信。移动车采用三轮全驱结构,能够实现全方位运动,车体设计成圆桶型结构,适合于狭窄的运动空间。车轮模块采用差动驱动结构,结构简单,布线方便,车轮的转向不受角度范围的限制。操作臂设计成串联六自由度结构,末端三个关节的轴线交于一点具有解析逆解,方便控制。移动操作机器人上配置了红外测距、超声测距、超声定位、数字罗盘、编码器、摄像头、温度、六维力/力矩等多种传感器,为实现机器人的局部自主提供了硬件条件。该全方位移动操作机器人具有9个自由度,属于冗余机器人,针对冗余机器人逆运动学求解问题提出了一种基于遗传信赖域算法的冗余机器人逆运动学求解方法,并利用关节局部优化及解析方法将遗传信赖域算法的求解简化为两维目标函数的最优化问题,提高了优化算法的搜索速度。
移动操作机器人自主运动规划是其自主性的重要内容,运动规划包括路径规划和轨迹规划。传统人工势场法用于移动机器人路径规划容易出现局部极小点、目标不可达和规划路径抖动等问题,为了克服传统方法的缺点提出了一种基于信赖域算法优化的改进人工势场法的自主路径规划方法。首先建立改进的人工势场模型,然后在改进人工势场模型基础上将各种势场强度用代数和方式叠加,最后用信赖域算法搜索机器人在一个采样周期中移动范围内的势场强度之和最小的点,多个最小点构成全局优化路径。信赖域算法具有快速收敛特性,能够满足算法的实时性要求。对于操作臂的轨迹规划问题,为了保证控制的实时性,采用基于关节空间的轨迹规划方法实现操作臂的轨迹规划。
操作臂体现移动操作机器人的操作能力,对其进行高效的遥操作控制能够提高移动操作机器人共享控制遥操作系统的操作性能。力反馈为操作者提供力觉临场感,能够大大提高操作者操作的效率。网络传输时延却影响了系统的作业性能,甚至引起系统的不稳定,必须对其进行时延控制。基于无源性理论的波变量法能够保证系统在任意时延下的稳定性,但是其透明性较差。本文针对具有多个自由度操作臂的力反馈遥操作控制问题,首先扩展了通用的多自由度遥操作系统的波变换公式。为了克服波变量方法透明性差的问题,将波预测方法用于变时延遥操作系统,并针对变时延和预测模型不精确等给遥操作系统主从端带来的稳态位置误差问题,提出了一种从端校正控制方法。该方法与主端校正控制方法相比,不但能消除由于变时延和数据丢包引起的稳态位置误差,而且能够修正由于预测模型不精确引起的稳态位置误差。针对从端机器人模型不断变化的遥操作任务,提出使用适应性波预测器的方法来应对模型的变化,并设计了适应性波预测器的运行策略。实验证明了方法的有效性。
移动车体现了移动操作机器人的移动能力,对移动车的遥操作能够补充其自主运动的不足,并且移动车和操作臂的遥操作相结合能够充分发挥移动操作机器人遥操作系统的“移动”和“操作”特性。首先研究了移动车力反馈遥操作控制的策略,并针对移动车的力反馈遥操作问题,提出了将波预测方法用于三通道遥操作控制结构,充分利用波变量方法、预测技术和三通道结构丰富的通道参数,在保证时延遥操作系统稳定的基础上提高其透明性。
建立了基于网络的遥操作实验系统,实现了移动操作机器人在较大范围内搬运放置物体的实验,将运动学求逆解方法、自主运动规划方法、移动车和操作臂的力反馈遥操作控制方法应用于实验中验证了所提方法的有效性,为实现移动操作机器人的共享控制遥操作奠定了理论和技术基础。
Mobile manipulator has both mobile and operational capacity, and has larger operating space and better operational flexibility. It is a hot research focus in the robot research area. It is the ultimate goal of intelligent robots research to make the robots with sensors complete the specified operation task autonomously. However, being confined to the current technological level, it is difficult for robots to complete all work tasks autonomously. The combination of part autonomy and network teleoperation of the robots to realize the integration of artificial intelligence can greatly improve its ability to fulfil complex and dynamic operational tasks. The important issues of shared control based mobile robot teleoperation system including mobile manipulator design, the method of improving robot autonomy and the method to support operator improve operational efficiency. In this paper, it developed a mobile robot firstly, and then studyed the self-autonomy motion planning, and finally researched the force-feedback time-delay compensation method for mobile platform teleoperation and manipulator teleoperation.
In allusion to the application background of control-sharing teleoperation, we studied an omni-directional wheeled mobile manipulator. The mobile manipulator has redundant network communication structure, which can communicate with the control network reliably. The mobile platform employs three-wheel all driving structure, which can realize omni-directional motion and is suited to narrow movement space. The wheel module employs differential drive structure which is simple and easy wiring and the turning of the wheels is free of the restrictions of angle range.restrictions. The manipulator is designed as series of 6-dof structure, and the axis of the end’s three-axis intersect at one point with analytic inverse solution, so that it’s easy to control. Mobile Manipulator configured infrared ranging, ultrasonic ranging, encoders, ultrasonic positioning, digital compass, camera, temperature, six-axis force / force moment and many other sensors, which provide the conditions for the robot to realize local autonomy. Omni-directional Mobile Manipulator has nine freedom, and it belongs to redundant robot. In allusion to the IKP of redundant robot, this paper proposes a kinematic inversion method based on the combination of genetic trust reign algorithm and analytical solutions. It can calculate the inverse of the robot rapiddly.
Real-time motion planning of mobile manipulator is an important part of its autonomy. Motion planning includes path planning and trajectory planning. Using the traditional artificial potential field for mobile robot path planning prone to raise problems of local minimum point and destination failure and so on. In order to overcome the shortcomings of traditional methods an improved artificial potential field method is proposed. We build up an improved artificial potential field model, and based on this we get the algebraic superposition of all kinds of potential field strength, and we use trust reign algorithm for searching for the minimum point of the sum of potential field strength within a sampling period of moving range, and a number of minimum points constitute the global optimal path. Trust reign algorithm has the character of rapid convergence, and the algorithm can satisfy the real-time requirements of arithmetic. For manipulator trajectory planning, in order to ensure the real-time control, we employ the trajectory planning method based on joint space to real-time plan the trajectory of Manipulator.
Manipulator represents the operational of the mobile manipulator, and its efficient teleoperaton can improve the operating performance of shared control teleoperation system of the mobile manipulator. Force-feedback technology in teleoperation system provides the operator with a force telepresence, which can greatly enhance the efficient operation of the operator. However, network transmission delay has greatly affected the operational performance of the system, and even cause system’s instability. Wave variable method based on passivity can ensure system’s stability with arbitrary time delays, but with poor transparency. In allusion to the force feedback teleoperation of manipulator with multiple degrees of freedom controlling problem, firstly, a universal wavelet transform formula is established for teleoperation system with multi-degree of freedom, and in order to overcome the problem of poor transparency of wave variable method, the wave prediction method is used to time-delay teleoperation system, and in allusion to the steady-state error of the master and slave end of teleoperation system caused by variable time delay and inaccuracy of the prediction model, forward correction controlling method is proposed which can effectively decreace the steady-state position error. For the changing teleoperation system’s task for the robot model, the method of using adaptive wave predictor to deal with the changes of the model is proposed, and the work strategies of the adaptive wave predictor is designed.
Mobile platform represents the mobility of the mobile manipulator, teleoperation of mobile platform can complement its lack of autonomous movement, and combining the teleoperaton of the mobile platform and manipulator can give full play of "mobile" and "operation" feature. The force feedback controlling strategy of mobile vehicle is studied, and for the problem of the force feedback teleoperation of mobile vehicle the combination of wave variable method and prediction technology and multi-channel teleoperation control is proposed, which can improve its transparency while ensuring the system’s stability.
We established a web-based teleoperation experimental system, and achieved the experiment of making the robot carry and place objects in large region, and applied dynamic programming method、mobile vehicles and manipulator’s force feedback teleoperation controlling method into experiments to verify the effectiveness of the proposed method, and this lays the foundation for the realization of shared remote controlling.
引文
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