液压与气动2023，Vol.47Issue(12)：41-48,8.DOI:10.11832/j.issn.1000-4858.2023.12.006
主从异构型液压机械臂遥操作的相似性映射方法
Similarity Mapping Method of Teleoperation of Master-slave Heterogeneous Hydraulic Manipulator
摘要
Abstract
The existing hydraulic manipulators have many degrees of freedom(DOFs)and performs complex tasks.Using exoskeleton for teleoperation can improve the accuracy and intuition of manipulator control,which has irreplaceable advantages.Designing according to upper-body wearability needs will lead to structural heterogeneity between exoskeleton and manipulator,resulting in master-slave kinematic asymmetry.Based on the master-slave control between a four DOF exoskeleton and a seven DOF redundant hydraulic manipulator,this paper proposes a Cartesian-joint space similarity mapping method suitable for master-slave heterogeneous teleoperation,which solves the problems of the differences,including the number of DOFs,DOF configuration and reachable working space on the consistency of master-slave control.Considering the control requirements and hydraulic-driving characteristics,the similarity mapping conditions and joint motion constraints under master-slave heterogeneous teleoperation are defined.The method based on weighted augmented Jacobian matrix with variable coefficient is proposed to meet the additional mapping relationships between the operator and the slave manipulator,and the selection criteria of joint speed limit coefficient are given as well.The mechanical-hydraulic coupling simulation model of the system is built for simulation verification.The results show that the method proposed in this paper can improve the flexibility and intuition of master-slave heterogeneous teleoperation and make the hydraulic manipulator better complete complex space tasks according to master instructions.关键词
运动学映射/冗余液压机械臂/遥操作控制Key words
kinematic mapping/redundant hydraulic manipulator/teleoperation control分类
机械制造引用本文复制引用
钱涤非,程敏,张付,张军辉,徐兵..主从异构型液压机械臂遥操作的相似性映射方法[J].液压与气动,2023,47(12):41-48,8.基金项目
国家自然科学基金(U21A20124) （U21A20124）
浙江省科技计划(2022C01039) （2022C01039）
