基于动觉/力觉导航的机器人共享控制策略研究

项目名称： 基于动觉/力觉导航的机器人共享控制策略研究

项目编号： No.51305153

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 倪涛

作者单位： 吉林大学

项目金额： 25万元

中文摘要： 为解决机器人操控中存在的效率低、操作者负担重的问题，并提高系统的安全性和易操作性，申请者提出基于动觉/力觉导航的机器人共享控制策略，将视觉对现场环境的认知结果以虚拟力（包括作业对象引力、障碍物斥力、图像约束力）的方式同操作者的操纵力信号融合，实现机器人自主任务规划与操作者手动控制的有机集成。手控器一改传统的被动地位，具有一定的主动性，通过力觉共享回路中的关节位置预测控制，形成对人手"推拽"和"示教"的运动趋势，从而为操作者提供运动觉和力觉信息提示，引导操作者控制机器人迅速接近目标、自动避开障碍物，并保证图像中的作业对象始终处于相机视野中心区域附近。动觉导航控制策略将机器智能与人类高级决策的优点相结合，可有效提高机器人的作业效率与局部自主，降低对操作者熟练程度的要求，并可避免图像时滞导致的机器人操控盲目性。在远程医疗、工程装备的安全性操控、技能培训等方面有着较好的学术价值和广阔的应用前景。

中文关键词： 动觉/力觉导航；共享控制；人工势场；虚拟引导力；

英文摘要： Aiming to solve the problems of inefficiency and overstress of the operator during the operation of a robot, and improve the safety as well as manipulation performance for the system, the applicant proposes a shared control strategy based on kinesthesis and force guiding method. The strategy realize the organic integration of robot's automatic mission planning with operator's mannual control by merging the control force of the operator with the virtual forces, including the attraction force from objectives, the rejection force from obstacles, and the image constraint force, which are generated from the recognition results of working fields based on machine vision techniques. The manipulator changes its traditional passive role and has some degree of initiative and autonomy. With the predictive control of joint positions in the force sharing loop, it could form the motion trend of push-pull and teaching to human hand, which provides the operator with kinesthesis cue and force cue. As a result, these hints could guide the operator to control the robot approaching target quickly and avoiding obstacles automatically, and ensure the objective in image locating always near the center area of camera view. The kinesthesis and force guiding control strategy combines the advantages of machine intelligence with human's hig

英文关键词： Kinesthesis/force guidance；Shared control；Artificial potential field；Virtual guiding force；