Algorithm Research & Explore
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3246-3249,3262

Workspace mapping and control strategy for industrial robot teleoperation system

He Wenren
Liu Xia
Ren Lei
School of Electrical Engineering & Electronic Information, Xihua University, Chengdu 610039, China

Abstract

There are two problems in the industrial robot teleoperation system, one is the difference of workspace between the master and slave robots and the other is the accuracy and safety of the motion control. For these two issues, this paper proposed a workspace mapping algorithm and a position-speed hybrid control strategy. Firstly, it divided teleoperation into two phases: the free motion stage and the interaction stage. The workspace mapping algorithm made the workspace highly covered between the master and slave in the free motion phase, so that the master could control the motion range of the slave to the maximum. Next, it designed a position-speed hybrid control strategy in the interaction phase to accurately control the motion of industrial robot, so that the slave could accurately follow the actual position trajectory of the master. Moreover, it introduced feedback guiding force to achieve safe control. Finally, it did experiments on the Touch-ABB IRB120 master-slave teleoperation platform. The experimental results show that the method can ensure the accuracy of teleoperation control while the workspace highly covers between the master and slave.

Foundation Support

国家自然科学基金资助项目(61973257,61875166)
四川省杰出青年科技基金资助项目(2017JQ0022)
四川省科技支撑计划资助项目(2016GZ0395)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2019.07.0266
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 11
Section: Algorithm Research & Explore
Pages: 3246-3249,3262
Serial Number: 1001-3695(2020)11-009-3246-04

Publish History

[2020-11-05] Printed Article

Cite This Article

贺文人, 刘霞, 任磊. 工业机器人遥操作系统的空间映射与控制策略 [J]. 计算机应用研究, 2020, 37 (11): 3246-3249,3262. (He Wenren, Liu Xia, Ren Lei. Workspace mapping and control strategy for industrial robot teleoperation system [J]. Application Research of Computers, 2020, 37 (11): 3246-3249,3262. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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