A human–robot interaction control strategy for teleoperation robot system under multi-scenario applications

IF 2.1 Q3 ROBOTICS International Journal of Intelligent Robotics and Applications Pub Date : 2024-06-27 DOI:10.1007/s41315-024-00351-0

Zhengyu Wang, Mingxin Hai, Xuchang Liu, Zongkun Pei, Sen Qian, Daoming Wang

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Abstract

The teleoperation robot system (TRS) stands as a prominent research frontier within robot control, amalgamating human decision-making capacity with robot operation, thus markedly enhancing safety and precision compared to autonomous operation. This paper selects TRS hardware and designs master–slave interaction software comprising six distinct modules tailored to diverse functionalities. It further derives forward and backward kinematic equations based on master–slave device linkage parameters, proposing a Cartesian workspace-based master–slave mapping algorithm. Additionally, a human–robot interaction (HRI) control framework emphasizing direct force feedback is devised to bolster system HRI performance and operator immersion. To ensure smooth, safe, and agile slave device movement, an innovative impedance controller-based TRS force feedback HRI control framework is introduced. The effectiveness of the TRS HRI control framework is validated via comprehensive experiments conducted across multiple scenarios, including remote robot axle-hole assembly, blackboard erasing, text writing, and auxiliary welding operations, on a constructed experimental platform for robot remote operation system HRIs.

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多场景应用下远程操作机器人系统的人机交互控制策略

远程操作机器人系统（TRS）是机器人控制领域的一个重要研究前沿，它将人类的决策能力与机器人的操作结合在一起，与自主操作相比，显著提高了安全性和精确性。本文选择了 TRS 硬件，并根据不同功能设计了由六个不同模块组成的主从交互软件。它还根据主从设备联动参数进一步推导出前向和后向运动学方程，提出了基于笛卡尔工作空间的主从映射算法。此外，还设计了一个强调直接力反馈的人机交互（HRI）控制框架，以提高系统的 HRI 性能和操作员的沉浸感。为确保平稳、安全和灵活的从属设备运动，引入了基于阻抗控制器的创新 TRS 力反馈 HRI 控制框架。通过在构建的机器人远程操作系统 HRI 实验平台上进行多种场景的综合实验，包括远程机器人轴孔装配、黑板擦除、文本书写和辅助焊接操作，验证了 TRS HRI 控制框架的有效性。

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来源期刊

International Journal of Intelligent Robotics and Applications ROBOTICS-

CiteScore

3.80

自引率

5.90%

发文量

期刊介绍： The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications