基于KUKA工业机器人的遥操作控制系统设计与异构主从控制方法研究
Designof TeleoperationSystemofKUKAIndustrialRobotand theControlAlgorithmwithHeterogeneousMaster/SlaveStructure
作者：汤卿(中国东方电气集团有限公司 中央研究院, 四川大学 制造科学与工程学院)；刘丝丝(中国东方电气集团有限公司 中央研究院)；尚留记(中国东方电气集团有限公司 中央研究院)；李勇(中国东方电气集团有限公司 中央研究院)
Author：TangQing(DongfangElectricCo.,R & DCenter, SchoolofManufacturingSci.andEng.,SichuanUniv.)；LiuSisi(DongfangElectricCo.,R & DCenter,)；ShangLiuji(DongfangElectricCo.,R & DCenter,)；LiYong(DongfangElectricCo.,R & DCenter,)
收稿日期：2015-04-22 年卷（期）页码：2016,48(1):180-185
期刊名称：工程科学与技术
Journal Name：Advanced Engineering Sciences
关键字：KUKA工业机器人；异构遥操作；主从控制；尺度变换；同胚映射
Key words：KUKAindustrialrobot;heterogeneousteleoperation;master/slavecontrol;scaletransformation;homeomorphictransformation
基金项目：特殊环境机器人技术四川省重点实验室开放基金资助项目(13zxtk01)
中文摘要
为了适应特种环境作业的需求，提出一套以KUKA工业机器人为从操作手的遥操作控制系统设计方法。通过Eth.KRLXML软件接口与主控计算机建立TCP/IP连接进行通信，实时地反馈机器人的关节角度与末端位姿等信息，同时接收并执行主控计算机的控制命令。针对异构型主从遥操作控制系统，提出一套基于相对位姿尺度变换的遥操作控制算法，将主操作手的运动信息经过相对坐标变换和尺度变换换算到KUKA机器人的末端，实现对不同大小工作空间的精确异构遥操作控制。最终所设计的遥操作控制系统和异构型尺度变换遥操作控制方法的有效性在实物抓取释放实验中得到了验证。
英文摘要
The design method of the teleoperation control system using industrial robot KUKA for was introduced the hazard environment and the control algorithm with heterogeneous master/slave structure.Using the Eth.KRLXML software package,a communication based on TCP/IP was connected between the robot controller and the remote computer.The joint angles and positions of the endpoint of the KUKA robot were sent periodically to the remote computer and commands from the remote computer were received and executed by the KUKA robot.Teleoperation control algorithm with relative scale transformation was adopted in the teleoperation system.Motions of the master manipulator was transformed to the slave manipulator’s coordinate.By implementing the scaled relative position and pose transformation,the proposed control algorithm not only could be used in the designed heterogeneous master/slave structure,but also could satisfied different operation space requirements with high accuracy.Physical experiments verified the proposed teleoperation system and the proposed master/slave control algorithm.
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