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浙江大学学报(工学版)
浙江大学学报(工学版)  2021, Vol. 55 Issue (5): 831-842    DOI: 10.3785/j.issn.1008-973X.2021.05.004
机械工程     
基于临场感的遥操作机器人共享控制研究综述
陈英龙1,2(),宋甫俊1,张军豪1,2,宋伟3,弓永军1,2,*()
1. 大连海事大学 船舶与海洋工程学院，辽宁 大连 116026
2. 大连海事大学 辽宁省救助及打捞工程重点实验室，辽宁 大连 116026
3. 浙江大学 海洋电子与智能系统研究所，浙江 舟山 316021
Telerobotic shared control strategy based on telepresence: a review
Ying-long CHEN1,2(),Fu-jun SONG1,Jun-hao ZHANG1,2,Wei SONG3,Yong-jun GONG1,2,*()
1. Naval Architecture and Ocean Engineering College, Dalian Maritime University, Dalian 116026, China
2. Key Laboratory of Rescue and Salvage Engineering Liaoning Province, Dalian Maritime University, Dalian 116026, China
3. Institute of Marine Electronics and Robotics, Zhejiang University, Zhoushan 316021, China
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摘要：

共享控制策略作为基于临场感的遥操作机器人的主要控制模式，能够充分利用操作者的感知、判断和决策能力，也能发挥出机器人自身的优势. 阐述遥操作机器人临场感技术；综述遥操作共享控制策略的发展现状，主要基于触觉反馈引导、运动学限制规避以及共享因子分配等，对各控制策略的原理进行介绍，并梳理和分析遥操作共享控制策略发展中的瓶颈和不足，如共享因素的单一化或僵硬化、时延问题和机器人自主判断能力有限等问题. 针对研究存在的局限性，从3个方面对未来的发展提出展望，分别为提升干预水平、加强机器人意图预测、结合机器学习, 具有一定的指导意义.
关键词： 遥操作;  共享控制;  临场感技术;  控制策略;  共享因子;  触觉反馈    
Abstract:

The shared control strategy, as the main control mode of teleoperation robots based on telepresence, can make full use of the operator's perception, judgment and decision-making ability, and utilize to the robot's own unique advantages. The telerobotic telepresence technology was introduced. The development of teleoperation shared control strategy was summarized. The principles of each control strategy were introduced mainly based on tactile feedback guidance, kinematic constraint avoidance and sharing factor assignment. The bottlenecks and shortcomings in the development of telerobotic shared control strategy were analyzed, such as the singleness or rigidity of shared factors, time delay and limited autonomous judgment ability of robots. The future research trends were proposed from three aspects in view of the limitations of the current study, namely, improving the intervention level, strengthening robot intention prediction, and combining machine learning, which have a certain guiding significance.
Key words: teleoperation    shared control    telepresence technology    control strategy    shared factor    tactile feedback
收稿日期: 2020-11-02 出版日期: 2021-06-10
CLC:  TH 11  
基金资助: 国家自然科学基金资助项目（51705452，51905067，U1908228）；工业和信息化部高科技船舶资助项目（2018ZX04001-021）；大连市科技创新基金重点学科重大资助项目（2020JJ25CY016）
通讯作者: 弓永军     E-mail: chenyinglong@dlmu.edu.cn;yongjungong@163.com
作者简介: 陈英龙（1984—），男，副教授，博士，从事流体传动及控制、机电系统高级运动控制和机器人技术研究. orcid.org/0000-0002-2149-093X. E-mail： chenyinglong@dlmu.edu.cn
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引用本文:

陈英龙,宋甫俊,张军豪,宋伟,弓永军. 基于临场感的遥操作机器人共享控制研究综述[J]. 浙江大学学报(工学版), 2021, 55(5): 831-842.

Ying-long CHEN,Fu-jun SONG,Jun-hao ZHANG,Wei SONG,Yong-jun GONG. Telerobotic shared control strategy based on telepresence: a review. Journal of ZheJiang University (Engineering Science), 2021, 55(5): 831-842.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2021.05.004    或    http://www.zjujournals.com/eng/CN/Y2021/V55/I5/831

图 1  常见力反馈设备
图 2  遥操作主要技术概述
图 3  遥操作机器人控制模式
图 4  基于临场感的共享控制框架
文献 应用场景 TFG KAC SFA 研究特点
[55] 轨迹规划 * 权重由操作者当前输入动作和目标物体的距离决定
[56] 椎弓根螺钉固定手术 * * 外科医生可以直接控制攻丝轴上的相互作用力/扭矩，而不会降低其他方向上的位置精度
[57] 远程操作热线工作 * * 操作者和自主运动规划器共同生成笛卡尔任务轨迹
[58] 复杂环境避障、导航 * * 考虑机器人与障碍物之间的距离，从而分别确定柔性控制器和导航控制器合适的合作权值
[59] 核电站高位重水更换 * 操作员仅控制从属机器人，而抑振任务分配给机器人系统
[60] 微创手术(MIS) * 外科医生全程控制工具的位置，并得到系统的支持，即外科医生感觉到力，但同时不阻碍或影响手术过程
[61] 六足机器人爬梯 * * 操作者和自主控制器的命令交由共享控制器中的控制权重函数进行处理
[62] 机器人避障 * * 以稳定裕度与稳定裕度变化率为输入，共享因子为输出的模糊控制器，实现变权重共享控制
[63] 空间远程操作 * * 根据操作员和自主控制模块的作用大小取加权融合
[64] 双臂协同 * * 2名操作者通过优势因子调节各操作者的控制权重
[65] 无人机飞行任务 * * 融合人主动操作和机器人自主运动的共享控制策略，使得机器人的控制权限可以在人和机器人之间平滑转移
[66] 辅助避障 * * 人的权重和机器人的权重是分别受不同因素影响的
[67] 动态工作空间搬运 * 分别研究共享控制中提高机器人自主运动能力和辅助操作者提高操作能力的方法
[68] ATRV机器人 * * 遥操作系统允许人类扩展他们的物理能力，使他们能够干预危险操作或在他们不可能存在的地方
[69] QBot机器人移动 * * 同时考虑机器人的自主性和人的干预，通过阻抗和导纳模型保证从人的操作到机器人运动的无源性
[70] 手术教学引导 * * 外科医生之间共享的控制权限是根据他们相对水平的手术技能和经验来选择的
[71] 非结构环境的探索 * * * 不仅根据给定环境上下文，而且根据用户当前行为的上下文来调节共享控制器提供的辅助水平
[72] 自由飞行太空机器人（FFSR） * * 将地面操作员的决策能力与空间机器人的自主能力有效地结合起来实现对目标更有效的捕获
[73] 微创外科手术(RMIS) * * 人工势场结合虚拟代理点，限制机器人执行机构的运动
表 1  共享控制策略研究简要汇总
图 5  触觉反馈共享控制系统
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