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WO2012018229A2 - Contrôleur bidirectionnel destiné à assurer une commande à distance stable en retard à l'aide d'une approche de passivité dans le domaine temporel, dispositif et procédé d'interface haptique et système de robot à commande à distance - Google Patents

Contrôleur bidirectionnel destiné à assurer une commande à distance stable en retard à l'aide d'une approche de passivité dans le domaine temporel, dispositif et procédé d'interface haptique et système de robot à commande à distance Download PDF

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Publication number
WO2012018229A2
WO2012018229A2 PCT/KR2011/005713 KR2011005713W WO2012018229A2 WO 2012018229 A2 WO2012018229 A2 WO 2012018229A2 KR 2011005713 W KR2011005713 W KR 2011005713W WO 2012018229 A2 WO2012018229 A2 WO 2012018229A2
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WIPO (PCT)
Prior art keywords
force
calculated
remote control
stored
controller
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Ceased
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PCT/KR2011/005713
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English (en)
Korean (ko)
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WO2012018229A3 (fr
Inventor
유지환
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Industry University Cooperation Foundation of Korea University of Technology and Education
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Industry University Cooperation Foundation of Korea University of Technology and Education
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority claimed from KR1020100074937A external-priority patent/KR101180994B1/ko
Priority claimed from KR1020110052085A external-priority patent/KR101268604B1/ko
Application filed by Industry University Cooperation Foundation of Korea University of Technology and Education filed Critical Industry University Cooperation Foundation of Korea University of Technology and Education
Publication of WO2012018229A2 publication Critical patent/WO2012018229A2/fr
Publication of WO2012018229A3 publication Critical patent/WO2012018229A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation

Definitions

  • the present invention relates to a bidirectional controller that guarantees stable remote control in time delay using a time-domain passive technique.
  • the present invention relates to a bidirectional controller that guarantees a stable remote control in a time delay using a domain passiveness technique.
  • the present invention also relates to a haptic interface device and method, and a remotely controlled robot system.
  • remote control technologies including remote surgery and remote maintenance have attracted a lot of attention due to their high applicability.
  • the feedback force can kinematically connect the remote control user to the remote control object, increasing the efficiency of the remote control user when performing complex tasks.
  • data transmission in computer networks has inherent time-delays, and even small values have a large unstable effect on feedback forces.
  • TDPA Time Domain Passivity Approach
  • the slave manipulator and the control target are set up as one one-port network system, and the passive observer and the passive controller are attached to the gate of the one-port network, so that the one-port network can be operated manually.
  • the prior art has a problem that the internal energy of the 1-port network is not controlled according to the state of the slave manipulator, and there is a problem that the active energy is not delivered to the remote control user when the control target is active.
  • the present invention is proposed to solve the above problems of the existing proposed methods, it is possible to precisely analyze the stability and to add a general framework in detail, various position-force (bidirectional) It is an object of the present invention to provide a bidirectional controller that ensures stable remote control in time delay by using a time domain passiveness technique that can be utilized in the manufacture of a controller.
  • the present invention by filtering the high-frequency force element using a virtual passive system including a virtual mass and a virtual spring, to prevent the sudden change of force so that the remote control user can perform the remote control efficiently
  • a virtual passive system including a virtual mass and a virtual spring
  • Another object of the present invention is to provide a bidirectional controller that guarantees stable remote control in a time delay using a time-domain passive technique.
  • Another object of the present invention is to provide a haptic interface device and method for stabilizing an interaction upon contact with a rigid virtual environment, and a remotely controlled robot system.
  • a bidirectional controller for ensuring stable remote control in time delay using a time domain passiveness technique
  • a master manipulator (hereinafter referred to as “master”) that allows a remote control user to input a desired operation;
  • a slave manipulator (hereinafter referred to as a slave manipulator) for receiving a motion signal from the master manipulator to implement a motion;
  • a two-port network comprising a first port for receiving a master input energy from the master and transmitting the master input energy to the slave and a second port for receiving a slave input energy from the slave and transmitting the master input energy to the master;
  • a passiveness observer (Passivity Observer, hereinafter referred to as 'PO') that monitors energy in real time and checks the passiveness of the two-port network;
  • PC Passivity Controller
  • the PC may be a PC of impedance type or an PC of admittance type.
  • the impedance type PC is attached between the master and the two-port network,
  • the admittance type PC may be attached between the slave and the two-port network.
  • the admittance type PC uses the damping element ⁇ defined by Equation a below to lower the output energy at the slave than the delayed input energy at the master,
  • the impedance type PC may use the damping element ⁇ defined by Equation b below to lower the output energy at the master than the delayed input energy at the slave.
  • the PO is composed of a pair and attached to each port of the two-port network to monitor the input energy and the output energy, respectively.
  • a virtual mass having a certain mass and a virtual spring having a certain rigidity can be set between the PC and the master to prevent a sudden change in force.
  • the passive observer may distinguish between input energy and output energy of each network port based on a sign of power.
  • the impedance type haptic interface device for solving the above-described problem is switched as the operator presses or releases the virtual environment to switch the operation mode of the haptic interface device between the press mode and the release mode.
  • a switch for switching a memory for storing reference force values calculated from the virtual environment corresponding to the positions pressed when the virtual environment is pressed, and a reference force stored corresponding to the position released when the virtual environment is released Reading a value from the memory and receiving a calculated reference force value from the virtual environment, comparing the calculated reference force value with the stored force value, and if the calculated reference force value is greater than the stored force value, Lower the calculated reference force value to the stored force value and In accordance with the power reference value and a controller for controlling the motor for applying a physical force to the operator.
  • the memory, switch, and controller may be implemented by a field programmable gate array (FPGA).
  • FPGA field programmable gate array
  • the impedance type haptic interface device receives a increased position when the virtual environment is pressed to switch the switch to the press mode, and when the virtual environment is released a switch control unit for switching the switch to the release mode by receiving the reduced position It may further include.
  • the haptic interface method comprises the steps of storing the force values in the memory corresponding to the pressed position when the operator presses the virtual environment, and when the operator releases the virtual environment Reading a stored force value from the memory corresponding to the released position, calculating a force value for the released position, comparing the calculated reference force value with the stored force value, Lowering the calculated reference force value to the stored force value if the calculated reference force value is greater than the stored force value, and controlling a motor exerting a physical force on the operator according to the calculated reference force value.
  • the admittance type haptic interface device is switched as the operator presses or releases the virtual environment switch to switch the operation mode of the haptic interface device between the press mode and the release mode, and the operator
  • a memory for storing each pressed force and a reference speed calculated correspondingly when the virtual environment is pressed, and a reference speed stored corresponding to each of the forces when the operator releases the virtual environment from the memory.
  • the haptic interface method comprises the steps of storing each of the pressed force and the reference speed calculated correspondingly when the operator presses the virtual environment, the operator is to release the virtual environment
  • the reference speed stored in correspondence with the respective forces is read from the memory, comparing the speed calculated in response to the respective forces with the stored reference speed, and the calculated speed is greater than the stored reference speed. Lowering the calculated speed to the stored reference speed and exerting a physical force on the operator in accordance with the calculated speed.
  • the remote control robot system that moves the remote robot according to the movement of the haptic device according to another embodiment of the present invention, when the remote robot is pressed by the haptic device, the movement of the haptic device or the movement of the remote robot A memory for storing a reference force calculated corresponding to each positional error of the reference force; and a reference force stored corresponding to each positional error of the movement of the haptic device or the movement of the remote robot when the remote robot is released by the haptic device.
  • Reads a value from the memory compares the calculated reference force value with the calculated force for each positional error of the movement of the haptic device or the movement of the remote robot, and calculates if the calculated reference force is greater than the stored force The calculated reference force to the stored force, and according to the calculated reference force And a controller for controlling the motor for generating the force applied to the haptic device, or the remote robot.
  • the haptic interface method in the remote control robot system in which the remote robot moves according to the movement of the haptic device when the remote robot is pressed by the haptic device, the movement of the haptic device or the Storing a reference force calculated in correspondence with each positional error of the movement of the remote robot in a memory, and each positional error of the movement of the haptic device or the movement of the remote robot when the remote robot is released by the haptic device; Reading a reference force value stored in correspondence from the memory, comparing the calculated reference force value with a force calculated for each positional error of the movement of the haptic device or the movement of the remote robot, and the calculation If the calculated reference force is greater than the stored force, the calculated reference force Depending on the method to lower the stored power, the calculated reference power comprises the step of generating the force applied to the haptic device, or the remote robot.
  • the bidirectional controller which guarantees stable remote control in time delay using the time domain passiveness technique proposed in the present invention, it is possible to precisely analyze the stability and to add a general framework in detail, It can be utilized in the manufacture of a position-force bidirectional controller.
  • the bi-directional controller that ensures stable remote control in time delay using the time domain passiveness technique according to the present invention, by filtering the high frequency force element using a virtual passive system including a virtual mass and a virtual spring, It prevents the sudden change of force so that the remote control user can perform the remote control efficiently.
  • the interaction is stabilized upon contact with the stiff virtual environment.
  • FIG. 1 illustrates a conventional one-port network system.
  • FIG. 2 is a diagram illustrating a conventional two-port network-based remote control system.
  • FIG. 3 is a diagram illustrating a method of determining energy flow to a 1-port network according to a sign of a power by a bidirectional controller that guarantees stable remote control in a time delay using a time-domain passive technique according to an embodiment of the present invention. drawing.
  • FIG. 4 is a diagram illustrating an ideal input energy and output energy flow in each network of a bidirectional controller for ensuring stable remote control in time delay using a time domain passive technique according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a force-position based bidirectional controller in time delay.
  • Figure 6 is a block diagram of a bidirectional controller to ensure stable remote control in time delay using a time domain passive technique according to an embodiment of the present invention.
  • FIG. 7 is a diagram illustrating an impedance type PC (a) and an admittance type PC (b) of a bidirectional controller for ensuring stable remote control in time delay using a time domain passiveness technique in accordance with an embodiment of the present invention.
  • FIG. 8 is a diagram illustrating physically the generation of feedback force on the master side in a force-position based bidirectional remote controller using a conventional TDPA.
  • 9 is a two-way controller that ensures stable remote control in time delay by using the time-domain passivation technique according to an embodiment of the present invention by inserting a virtual mass and spring between the master and the PC to generate a feedback force Physical representation of ensuring stable remote control in delay and prevention of sudden force changes.
  • FIG. 10 is a block diagram of a bidirectional controller using a virtual mass and a spring to ensure stable remote control in a time delay by using a time-domain passivation technique according to an embodiment of the present invention.
  • FIG. 11 is a diagram illustrating a time delay shown during an experiment of a bidirectional controller for ensuring stable remote control in a time delay using a time domain passiveness technique according to an embodiment of the present invention.
  • FIG. 12 is a diagram illustrating a configuration of a haptic display system according to the present invention.
  • FIG. 13 is a diagram illustrating an ideal force versus position graph for explaining the theory of the present invention.
  • FIG. 14 is a block diagram of a haptic interface device according to a preferred embodiment of the present invention.
  • 15 is a flowchart illustrating an operation in a press mode of a haptic interface device according to an embodiment of the present invention.
  • 16 is a view for explaining the operation in the press mode in the present invention.
  • FIG. 17 is a flowchart illustrating an operation in a release mode of a haptic interface device according to an embodiment of the present invention.
  • FIG. 18 illustrates a case in which the present invention is implemented in an admittance type haptic interface device according to an embodiment of the present invention.
  • FIG. 19 illustrates a case in which the present invention is implemented in a teleoperation robot system according to an embodiment of the present invention.
  • FIG. 1 is a diagram illustrating a conventional one-port network system.
  • the conventional one-port network system is a method in which force and speed are input to a one-port network from a remote control user, and operate manually in a condition that satisfies Equation (1).
  • energy in passive network systems must be positive.
  • the utilization variables that define the flow of forces in a network system are time dependent.
  • the sampling rate used for analysis of network systems is limited to values that are essentially faster than the sampling rate in dynamic systems.
  • a passivity observer may be included to check the passivity of the 1-port network system. The check of passiveness follows Equation 2. ⁇ T is the sampling time and t j is j ⁇ ⁇ T.
  • E obsv (t k ) is greater than or equal to 0 for all k, this means that the 1-port network system does not generate energy. On the other hand, if E obsv (t k ) is less than 0, it means that the 1-port network system generates energy, and the amount of energy generated is -E obsv (t k ).
  • FIG. 2 is a diagram illustrating a conventional two-port network-based remote control system.
  • the remote control user can input the speed and the force to the remote controller using the conventional 1-port network system to operate the control object as desired.
  • v h and v e represent the velocity at the point of interaction between the remote control user and the master manipulator (hereinafter referred to as the 'master'), the controlled object and the slave manipulator (hereinafter referred to as the 'slave').
  • f h denotes the force applied by the user to the master
  • f e denotes the force applied by the slave to the control object.
  • the passiveness of the bidirectional remote controller ensures the stability of the remote control system.
  • PO can be used to monitor the energy flow of the bidirectional remote controller.
  • the energy flow of the bidirectional remote controller is shown in Equation 3.
  • FIG. 3 is a diagram illustrating a method of determining energy flow to a 1-port network according to a sign of a power by a bidirectional controller that guarantees stable remote control in a time delay using a time-domain passive technique according to an embodiment of the present invention.
  • the power flow (f ⁇ v) is positive. If the value of the energy means that the input to the network system, on the contrary, if the power flow is negative value means that the energy is output from the network system. That is, the energy at each port of the network may be classified into input energy and output energy as shown in Equation 4.
  • K denotes a step of sampling time.
  • each input energy and output energy can be calculated by integrating the flow of power as shown in Equation (5).
  • ⁇ T is the sampling time and P (k) is f (k) ⁇ v (k), which means the flow of power at each port.
  • equations 1 and 3 which are equations for time-varying passive control in the 1-port network system. May be represented by Equations 6 and 7, respectively.
  • the input energy and output energy at each port can be calculated by Equation 8.
  • E 1 in is the input energy at the first port
  • E 2 out is the output energy at the second port.
  • P 1 (k) is f 1 (k) ⁇ v 1 (k), meaning the flow of power at the first port
  • P 2 (k) is f 1 (k) ⁇ v 1 (k) It means the power flow in the port.
  • Equation 7 E 1 out (k) and E 2 out (k) can satisfy Equation 7 by adding a suitable damping factor.
  • E 1 in and E 1 out cannot be compared at the same sampling time as E 2 in and E 2 out .
  • FIG. 4 is a diagram illustrating an ideal input energy and output energy flow in each network of a bidirectional controller that guarantees stable remote control in time delay by using a time domain passive technique according to an embodiment of the present invention.
  • the main source of output energy at one port Is the input energy at the other port, and the output energy is smaller than the input energy.
  • the output energy (E 2 out ) at the second port is always the input energy (E 1 ) at the first port.
  • Equation 10 is derived when the time-domain passive condition is separated in the 2-port network system.
  • Equation 11 may be represented by Equation 11.
  • Equation 12 Equation 9 for ensuring the passiveness in the two-port network system is sufficiently satisfied.
  • FIG. 5 is a schematic diagram of a force-position based bidirectional controller in time delay.
  • the force-position-based bidirectional controller in the time delay the master input from the slave, the master to receive the operation signal from the master, the master can input the desired operation by the remote control to implement the movement It may be configured to include a two-port network consisting of a first port for receiving energy and transmitting to the slave and a second port for receiving and transmitting slave input energy from the slave to the master.
  • v sd is the design speed on the slave, which includes a time delay at the master speed (v m ).
  • f md is the control force at the master and includes the time delay at the control force f s at the slave.
  • K stands for position controller on the slave.
  • the passiveness in a two-port remote controller connected from master to slave is sufficient to satisfy the stability of the remote control system. If the master and slave without controller are inherently passive and the position controller in the slave can be designed passively, then only the network channel becomes the active part under time delay. Therefore, a bidirectional controller that ensures stable remote control in time delay using a time domain passiveness technique according to an embodiment of the present invention can be applied to a two-port network system.
  • FIG. 6 is a block diagram of a bidirectional controller that ensures stable remote control in time delay using a time domain passiveness technique according to an embodiment of the present invention.
  • a bidirectional controller that ensures stable remote control in time delay using a time domain passiveness technique according to an embodiment of the present invention includes a pair of POs that monitor energy in real time and check the passiveness of a 2-port network.
  • a pair of POs can be attached to each port of the two-port network to monitor the input energy and output energy, respectively. It can also include a PC that controls the PO-based two-port network to dissipate the required amount of energy. The PC will be described in detail with reference to FIG. 7.
  • FIG. 7 is a diagram illustrating an impedance type PC (a) and an admittance type PC (b) of a bidirectional controller for ensuring stable remote control in time delay using a time domain passive technique according to an embodiment of the present invention.
  • the PC of the bidirectional controller that guarantees stable remote control in time delay using a time domain passiveness technique according to an embodiment of the present invention may be a PC having an impedance type or an admittance type.
  • (Admittance Type) may be a PC.
  • An impedance type PC may be attached between the master and the two-port network, and an admittance type PC may be attached between the slave and the two-port network.
  • the admittance type PC monitors the input energy (E M in ) at the master and transmits the damping factor ⁇ to the slave.
  • Attenuation factor ⁇ serves to lower the output energy at the slave than the delayed input energy at the master.
  • the design speed (v sd ) on the slave is modified so that D MS can represent the time delay value from master to slave.
  • the impedance type PC monitors the input energy (E S in ) of the slave and simultaneously transmits the damping element ⁇ to the master.
  • Attenuation factor ⁇ according to Equation 14 serves to lower the output energy at the master than the delayed input energy at the slave.
  • the feedback force on the master is modified so that D SM can represent the time delay value from slave to master.
  • Equation 9 may be expressed as a condition for the passiveness of the 2-port network system by adding the damping element ⁇ in Equation 13 and the damping element ⁇ in Equation 14.
  • this equation is derived assuming that the sampling time is the same in the master and the slave, but can be extended and applied even when the sampling time is not the same in the master and slave.
  • FIG. 8 is a diagram illustrating physically the generation of feedback force on the master side in a force-position based two-way remote controller using a conventional TDPA.
  • the problem with TDPA is that the force can change suddenly in an impedance type PC.
  • the remote control user since the feedback force is directly applied to the master, when the feedback force is suddenly changed by the use of a PC, the remote control user may feel a sudden change in the efficiency of the remote control. Can fall.
  • a bidirectional controller that ensures stable remote control in time delay by using a time domain passiveness technique according to an embodiment of the present invention may include a virtual mass and a virtual mass.
  • a virtual spring can be installed between the master and the impedance type PC.
  • a bidirectional controller that ensures stable remote control in time delay using a time domain passiveness technique according to an embodiment of the present invention includes a virtual mass having a constant mass and a virtual spring having a constant rigidity.
  • the power applied to the master and the speed transmitted from the master to the slave may be converted into f m and v mc according to Equation 15, respectively.
  • the virtual mass of the bidirectional controller to ensure stable remote control in time delay by using the time domain passiveness technique according to an embodiment of the present invention is 0.00001 to 0.01kg, the rigidity of the virtual spring can be 100 to 10000N / m have.
  • Virtual masses and virtual springs act as bilateral low pass filters for force and velocity.
  • the network system can be actively changed when a one-way filter, that is, a force filter or a speed filter is attached, but the bidirectional filter can maintain the passiveness of the network system.
  • Equation 17 shows a function of the low pass force filter and the low pass speed filter. If the cutoff frequency in the low pass force filter is lower than the frequency of the PC noise caused by the sudden force change, the PC noise is filtered and only the low frequency force element can be transmitted to the remote control user.
  • one computer is provided to control a master and a slave at a sampling rate of 1 ms. Time-varying time delays were used within the computer.
  • FIG. 11 is a diagram illustrating a time delay shown during an experiment of a bidirectional controller for ensuring stable remote control in a time delay using a time domain passiveness technique according to an embodiment of the present invention. As shown in FIG. 11, the time delay was on average 100 ms and oscillated between 50 and 150 ms.
  • a control experiment of a bidirectional controller without TDPA was performed in a stiff environment.
  • the remote control user controlled the master so that the slave touches a solid wall.
  • the graph about the force and the position pulse was vibrated due to the time delay. This is not the intended movement of the remote control user. Due to this delayed force, the remote control user could not keep the slave in contact with the wall. While the slave is in contact with the wall, the contact energy at the master and slave is greater than the input energy at the master and slave, and thus the passive condition is not maintained.
  • the bidirectional controller using only the passivity technique to ensure stable remote control in a time delay using the time domain passivity technique according to an embodiment of the present invention in a stiff environment.
  • the remote control user controlled the master so that the slave contacts the solid wall three times.
  • the remote control user attempted the next contact after successful contact, and all three contacts were intended by the remote control user.
  • the positional response of master and slave is stable.
  • the PC can modify the control force in the master if necessary, and the output energy of the slave can be kept lower than the input energy of the master by the operation of the PC, and the output energy of the master is A value lower than the input energy could be maintained.
  • the bidirectional controller could be maintained passively.
  • the power in the master showed a sudden change. This is because either the speed has a zero value or a sudden speed change occurs while the slave is contacting at a low speed. This sudden change in force can degrade the perception of the remote control user.
  • the PC at the slave adjusts the speed at the master to keep the output energy at the slave lower than the input energy at the master, which results in a push of position at the end of the contact.
  • the control when the bidirectional controller using the passivity technique and the virtual mass and the spring at the same time using the time domain passiveness technique according to an embodiment of the present invention in a stiff environment to ensure stable remote control in time delay was performed.
  • the rigidity of the virtual spring was 1000 N / m and the inertia of the virtual mass was 0.0001 kg.
  • the sampling time is 1 ms, the cutoff frequency due to the virtual mass and the virtual spring is around 320 Hz, which is lower than the PC noise of 500 Hz.
  • the noise component of the PC was found to be filtered.
  • the positional response of the slave and the master was stable, and the graph of the control force in the master showed a smoother shape than the previous experiment.
  • the remote control user touches the slave to a solid wall
  • the control force at the master is dependent on the force at the slave due to the virtual mass and the virtual spring.
  • the high frequency noise control forces passing through the PC were filtered and only the low frequency interactive forces were transmitted.
  • the virtual mass and the virtual spring have filtered the high frequency force components, the modified force is dependent on the original force at the slave and only limited if necessary.
  • the bidirectional controller using the time domain passiveness technique according to an embodiment of the present invention to ensure stable remote control in time delay simultaneously uses the passive technique and virtual mass and spring.
  • the control experiment in the case of doing was performed.
  • blackout was performed for 3 to 7 seconds in a free operation.
  • the slave stops moving as long as the PC at the slave keeps its output energy below the master's input energy.
  • Experimental results show that the input energy from the master was input before the blackout and remained constant during the blackout.
  • a bidirectional controller using the time domain passivity technique according to an embodiment of the present invention to ensure stable remote control in time delay uses the passivity technique and virtual mass and spring at the same time.
  • Case control experiments were performed. In this case, blackout was performed for 5 seconds to 10 seconds. While the slave is in contact, the slave stops moving as in the previous experiments, and the PC's power at the master is controlled to dissipate energy solely by keeping the output energy below the input energy at the slave before blackout. It became. Experimental results show that the input energy from the slave input before blackout is maintained at a constant value during blackout.
  • the bidirectional controller that ensures stable remote control in time delay using the time domain passiveness technique according to an embodiment of the present invention constrains the movement of the slave so that there is no push of position or force, It was confirmed that stable and free remote control is possible.
  • a haptic display system includes a human operator (HO) 100, a haptic interface 200, and a virtual environment 300.
  • the operator 100 is a person who interacts with the virtual environment 300 through the haptic interface 200.
  • Virtual environment 300 is a computer generated model of some physically stimulated scene.
  • the haptic interface 200 can be any device between the operator 100 and the virtual environment 300 and includes, for example, a haptic device, a sensor, an actuator, control software, and an AD / DA converter.
  • the haptic interface 200 enables the operator 100 to interact with the virtual environment 300 by exchanging energy with each other, so that the design of the haptic interface is very important for stability and performance analysis.
  • vh represents the velocity at the interacting positions of the operator 100 and the haptic interface 120
  • fh represents the force that the operator 100 exerts on the haptic interface 120.
  • the present invention makes the release path always lower or at least equal to the press path by changing the calculated output force at the time of pressing and releasing to the operator in such a haptic display system.
  • the interaction will then be passive since the output energy at the interaction will be less than or at least equal to the input energy.
  • the present invention is implemented based on memory. Specifically, the present invention stores the calculated reference force output from the virtual environment with its corresponding location in a predetermined memory area when the operator presses the virtual environment. The present invention then compares the calculated output force with the stored force at that location when the operator releases the virtual environment. If the calculated output force is equal to or less than the stored force, display it, otherwise lower the calculated output force to the stored force. This allows the press path to be above or at least remain the release path, which avoids the activeness of the interaction, ie the interaction becomes active and unstable.
  • FIG. 13 is a diagram illustrating an ideal force versus position graph for explaining the theory of the present invention.
  • the same force is preferably applied during the press process and the release process.
  • the present invention stores the reference force calculated from the virtual environment at each position of the press path in the press process, and obtains the output force stored corresponding to each position of the press path in correspondence with each position of the release path in the release process. .
  • the haptic interface device includes a memory 211, a switch 212, a controller 213, a switch controller 214, a motor driver 220, and a motor 230.
  • FPGA field programmable gate array
  • Memory 211 is used to store force values from the virtual environment.
  • the memory 211 stores each force output in a corresponding memory area corresponding to the measured position.
  • the switch control unit 214 selects the force output by switching the switch 212 between the release mode and the press mode.
  • the switch controller 214 is connected to the motor driver 220 to receive the measured position from the motor driver 220.
  • the switch controller 214 causes the haptic interface device to enter one of two modes of operation according to the measured position.
  • the two operating modes include a release mode and a press mode.
  • the haptic interface device enters the press mode when the operator presses the virtual environment, and the haptic interface device enters the release mode when the operator releases the virtual environment.
  • the switch controller 214 When the operator presses the virtual environment, the position is increased and the switch controller 214 is provided with the increased position from the motor driver 220. The switch control unit 214 then switches the switch 212 to the press mode. In addition, the switching controller 214 controls the memory 211 to be writeable when the increased position is received from the motor driver 220. Accordingly, the memory 211 stores the measured positions provided from the motor driver 220 and the corresponding forces in the virtual environment corresponding thereto. Accordingly, motor driver 220 should detect all changes in position displacement and provide the changed positions.
  • the FPGA must have a clock as fast as possible to detect all position changes and access memory as quickly as possible to read / write at each position change event.
  • the memory 2110 stores the output of the reference force calculated from all positions of the press path and the corresponding virtual environment in the press mode. That is, upon entering the press mode, the memory 211 stores the output value of the calculated reference force from the virtual environment at each location along with its corresponding location.
  • the switch control unit 214 switches the switch 212 to the release mode.
  • the switching controller 214 controls the memory 211 to be readable when the reduced position is received from the motor driver 220.
  • the memory 211 provides the controller 213 with the measured positions provided from the motor driver 220 and the corresponding force in the virtual environment corresponding thereto.
  • the controller 213 is provided with a release location in release mode. At this time, the controller 213 reads or receives the force stored in the memory 211 from the memory 211 in response to the detected release position.
  • the controller 213 is provided with a reference output force calculated from the virtual environment 300 corresponding to the release position.
  • the controller 213 compares the output force and the stored force calculated for that release position. If the calculated reference output force is equal to or less than the stored force, the controller 213 controls the motor driver 220 according to the calculated reference output force to control the motor 230 acting on the operator. do. If the calculated output reference force is greater than the stored force, the calculated reference output force is lowered to the stored force. This allows the press path to be above or at least remain the release path. Accordingly, the haptic interface device according to the present invention has an effect that can stabilize the interaction when the operator presses and releases the virtual environment.
  • the haptic interface device determines whether to enter the press mode. When the operator presses the virtual environment, the position increases, and according to the increased position, the haptic interface device enters the press mode. When the haptic interface device enters the press mode, it determines whether the press position is detected in step 420.
  • the haptic interface device detects a position at which the operator presses the virtual environment, and stores the press position value and the corresponding force value at step 430. As such, the haptic interface device detects the press position and stores the corresponding force value, which will be described in detail with reference to FIG. 16.
  • the haptic interface device detects all the changes in the positional displacement in the press mode to detect the changed positions.
  • the haptic interface device has a fast clock for this purpose.
  • the position change can occur in the form of a pulse. That is, the haptic interface device detects the changed position when the pulse is detected, and stores the reference force calculated from the virtual environment 300 in response to the changed position.
  • the force from the virtual environment 300 may be updated from F_1 to F_2.
  • the haptic interface device determines whether the press mode ends in step 440, and returns to step 420 if the press mode does not end. In this way, the haptic interface device detects all the positions being pressed and stores the detected positions and the corresponding forces in the corresponding virtual environment.
  • the haptic interface device is preferably implemented by an FPGA.
  • the FPGA must have a clock as fast as possible to detect all position changes, and it is implemented to access memory as quickly as possible to read / write at each position change event.
  • FIG. 17 is a flowchart illustrating an operation in a release mode of a haptic interface device according to an embodiment of the present invention.
  • the haptic interface device determines whether to enter the press mode. Upon exiting the operator virtual environment, the position decreases and the haptic interface device enters the release mode in response to the reduced position.
  • the haptic interface device determines whether to detect the release position in step 520. Subsequently, when the haptic interface device reads the release location, the haptic interface device reads from the memory the stored value for the location detected in step 530. As described above, the memory stores force values corresponding to all press position values in the press mode. That is, the haptic interface device reads the force stored in the memory with respect to the detected position from the memory.
  • the haptic interface device determines whether the reference force calculated from the virtual environment is less than or equal to the stored force in step 540.
  • the calculated reference force is provided from the virtual environment. If the calculated reference force is less than or equal to the stored force, the haptic interface device proceeds to step 560.
  • the haptic interface device proceeds to step 550 to lower the calculated reference force to the stored force and proceeds to step 560. This allows the press path to be above the release path or at least remain the same.
  • the haptic interface device displays the reference force calculated at step 560. That is, the haptic interface device controls the motor to apply a physical force to the operator by controlling the motor driver according to the calculated reference force.
  • the above-described embodiment of the present invention corresponds to the case where the haptic interface device is an impedance type, but the present invention is not limited to the impedance type.
  • the concept of the present invention may be applied to an admittance type haptic interface device or a teleoperation robot.
  • the admittance type haptic interface device calculates and stores a velocity Ve from a virtual environment with respect to a force applied by the operator to the haptic interface. For example, when the force Fn is applied to the virtual environment, the velocity is calculated in inverse proportion to the applied force by the magnitude of Z (s). This is expressed as an equation.
  • V e F (n) / Z (s)
  • the admittance type haptic interface device stores the calculated velocity V_e corresponding to the force Fn applied in the press mode. Then, in the release mode, the admittance type haptic interface device compares the reference speed stored for each force with the speed calculated for each force and lowers it to the stored reference speed if the calculated speed is higher than the stored reference speed.
  • the remote robot is controlled in response to the manipulation of the operator in the remotely controlled robot system.
  • the remote robot also moves by Xs.
  • the motor force applied to the haptic device is represented by Fm, and thus the motor force applied to the remote robot is represented by (output) Fs.
  • the remotely controlled robot system is a reference calculated in the press mode, ie when the remote robot is pressed by the haptic device, the calculated position corresponding to the angular position error of the movement of the haptic device or the movement of the remote robot. Save power.
  • the remotely controlled robot system stores the stored reference force output and the calculated force output corresponding to each positional error of the movement of the haptic device or the movement of the remote robot. Compare and reduce the calculated reference force to the stored force if the calculated reference force is greater than the stored force.
  • the remote control robot system controls a motor that applies a physical force to the haptic device or the remote robot according to the calculated reference force.
  • the present invention can be applied not only to the haptic interface device of the impedance type but also to the haptic interface device of the admittance type as well as to the remote control robot system.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Selective Calling Equipment (AREA)

Abstract

Un contrôleur bidirectionnel destiné à assurer une commande à distance stable télécommande en retard à l'aide d'une approche de passivité dans le domaine temporel de la présente invention permet une analyse précise de la stabilité, permet d'ajouter de manière spécifique un cadre général et peut être utilisé de façon à fabriquer divers contrôleurs bidirectionnels de position/de force. En outre, le contrôleur bidirectionnel destiné à assurer la commande à distance stable en retard à l'aide de l'approche de passivité dans le domaine temporel selon la présente invention permet d'empêcher une modification soudaine de la force et permet à un utilisateur d'exécuter de manière efficace une commande à distance en filtrant un élément de force d'une fréquence élevée à l'aide d'un système de passivité virtuel qui comprend une masse virtuelle et un ressort virtuel.
PCT/KR2011/005713 2010-08-03 2011-08-03 Contrôleur bidirectionnel destiné à assurer une commande à distance stable en retard à l'aide d'une approche de passivité dans le domaine temporel, dispositif et procédé d'interface haptique et système de robot à commande à distance Ceased WO2012018229A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020100074937A KR101180994B1 (ko) 2010-08-03 2010-08-03 시간영역 수동성 기법을 이용하여 시간 지연에서의 안정적인 원격제어를 보장하는 양방향 제어기
KR10-2010-0074937 2010-08-03
KR10-2011-0052085 2011-05-31
KR1020110052085A KR101268604B1 (ko) 2011-05-31 2011-05-31 햅틱 인터페이스 장치 및 방법, 그리고 원격조종로봇 시스템

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WO2012018229A2 true WO2012018229A2 (fr) 2012-02-09
WO2012018229A3 WO2012018229A3 (fr) 2012-03-29

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170008167A (ko) * 2015-07-13 2017-01-23 쿠카 로보테르 게엠베하 휘기 쉽게 조절된 로봇의 제어
CN108663934A (zh) * 2018-04-12 2018-10-16 东南大学 一种空间遥操作虚拟环境模型的在线修正系统及方法
CN112790952A (zh) * 2019-11-14 2021-05-14 纬创资通股份有限公司 控制方法以及电动助行器

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108303880B (zh) * 2018-01-18 2020-11-06 西北工业大学 一种基于时延补偿的机器人遥操作预测控制方法

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100042357A (ko) * 2008-10-16 2010-04-26 한국기술교육대학교 산학협력단 에프피지에이 기반의 제어시스템에서 물리적 댐핑을 삽입하는 방법 및 이를 적용한 햅틱시스템

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170008167A (ko) * 2015-07-13 2017-01-23 쿠카 로보테르 게엠베하 휘기 쉽게 조절된 로봇의 제어
KR101939438B1 (ko) 2015-07-13 2019-04-10 쿠카 도이칠란트 게엠베하 휘기 쉽게 조절된 로봇의 제어
CN108663934A (zh) * 2018-04-12 2018-10-16 东南大学 一种空间遥操作虚拟环境模型的在线修正系统及方法
CN112790952A (zh) * 2019-11-14 2021-05-14 纬创资通股份有限公司 控制方法以及电动助行器

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