CN105965507A

CN105965507A - Dual-arm robot teleoperation control system shared by two persons

Info

Publication number: CN105965507A
Application number: CN201610323422.1A
Authority: CN
Inventors: 黄攀峰; 鹿振宇; 刘正雄; 孟中杰
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2016-05-16
Filing date: 2016-05-16
Publication date: 2016-09-28
Anticipated expiration: 2036-05-16
Also published as: CN105965507B

Abstract

The invention discloses a dual-arm robot teleoperation control system shared by two persons. By establishing a double-hand sharing operating module, operation mapping between both hands of two main hands and a robot is achieved; and then a main manipulator and an auxiliary manipulator are divided, and a main operating arm and an auxiliary operating arm are distinguished in the operating process of the main manipulator, so that operation assisting of the main manipulator is achieved. Meanwhile, the situations such as collision and misoperation of the auxiliary operating arm in the operating process of the main manipulator can be avoided, and thus barrier avoidance and double-hand fine teleoperation are achieved.

Description

A teleoperation control system for a two-person sharing dual-arm robot

【技术领域】【Technical field】

本发明属于遥操作领域，具体涉及一种双人共享双臂机器人遥操作控制系统。The invention belongs to the field of remote operation, and in particular relates to a remote operation control system for a dual-arm robot shared by two people.

【背景技术】【Background technique】

目前的多机械臂操作通常是每个操作者对单个机械臂进行单独操作，在操作的过程中需要操作者之间的相互配合，操作效率较低，在受到操作弧端限制的情况下，难以及时的完成具体的操作任务，而通过单个操作者对双臂机器人进行操作，则不需要操作者之间进行交互，并且由于操作指令由单一操作者发出，从而操作更加灵活，也更适合的复杂未知的操作场景，具有较大的应用价值。The current multi-manipulator operation usually requires each operator to operate a single manipulator independently. During the operation, the operators need to cooperate with each other, and the operation efficiency is low. Complete specific operation tasks in a timely manner, while operating a dual-arm robot through a single operator does not require interaction between operators, and since the operation instructions are issued by a single operator, the operation is more flexible and more suitable for complex Unknown operation scenarios have great application value.

但是在双臂遥操作过程中，双臂通常需要区分出主操作臂和辅助操作臂，而操作者的注意力主要集中于主操作臂上，难以同时顾及到辅助操作臂的情况，从而有可能导致辅助操作臂与未知环境发生碰撞，基于该问题本发明提出一种双人共享双臂机器人遥操作控制系统。However, in the process of double-arm teleoperation, the two arms usually need to distinguish between the main operating arm and the auxiliary operating arm, and the operator's attention is mainly concentrated on the main operating arm, and it is difficult to take into account the situation of the auxiliary operating arm at the same time, so it is possible As a result, the auxiliary manipulator arm collides with the unknown environment. Based on this problem, the present invention proposes a two-person sharing dual-arm robot teleoperation control system.

【发明内容】【Content of invention】

本发明的目的在于克服上述现有技术的缺点，提供一种双人共享双臂机器人遥操作控制系统。The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art, and provide a remote operation control system for a dual-arm robot shared by two people.

为达到上述目的，本发明采用以下技术方案予以实现：In order to achieve the above object, the present invention adopts the following technical solutions to achieve:

一种双人共享双臂机器人遥操作控制系统，包括以下步骤：A remote operation control system for a double-arm robot shared by two people, comprising the following steps:

1)建立双人双手操作的动力学模型：1) Establish a dynamic model of two-handed operation:

$\{\begin{matrix} {F f}_{h h 11}^{l l} = = {F f}_{h h 11}^{l l}^{* *} - - {Z Z}_{h h 11}^{l l} {V V}_{h h 11}^{l l} \\ {F f}_{h h 11}^{r r} = = {F f}_{h h 11}^{r r}^{* *} - - {Z Z}_{h h 11}^{r r} {V V}_{h h 11}^{r r} \\ {F f}_{h h 22}^{l l} = = {F f}_{h h 22}^{l l}^{* *} - - {Z Z}_{h h 22}^{l l} {V V}_{h h 22}^{l l} \\ {F f}_{h h 22}^{r r} = = {F f}_{h h 22}^{r r}^{* *} - - {Z Z}_{h h 22}^{r r} {V V}_{h h 22}^{r r} \end{matrix} - - - - - - ((11))$

其中，和为操作者i对左手控器和右手控器的作用力，和为操作者i的实际控制力，和分别为操作者i的操作阻抗，和别为操作者i左手和右手的速度变量；in, and is the force exerted by operator i on the left and right controllers, and is the actual control force of operator i, and are the operating impedance of operator i, respectively, and Let be the velocity variables for operator i's left and right hands;

在任务模型中，建立两操作者双手的动力学模型：In the task model, the dynamic model of the hands of the two operators is established:

$\{\begin{matrix} {Z Z}_{m m 11}^{l l} {V V}_{h h 11}^{l l} = = {F f}_{h h 11}^{l l} + + {F f}_{c c m m 11}^{l l} \\ {Z Z}_{m m 11}^{r r} {V V}_{h h 11}^{r r} = = {F f}_{h h 11}^{r r} + + {F f}_{c c m m 11}^{r r} \\ {Z Z}_{m m 22}^{l l} {V V}_{h h 22}^{l l} = = {F f}_{h h 22}^{l l} + + {F f}_{c c m m 22}^{l l} \\ {Z Z}_{m m 22}^{r r} {V V}_{h h 22}^{r r} = = {F f}_{h h 22}^{r r} + + {F f}_{c c m m 22}^{r r} \end{matrix} - - - - - - ((22))$

其中，和分别表示操作者i左操作手和右操作手驱动力的质量模型阻抗，s为拉普拉斯算子，和为操作者i的左手和右手控制力；in, and respectively represent the mass model impedance of the driving force of operator i’s left and right operators, s is the Laplacian operator, and are the left and right control forces of operator i;

2)建立从端双臂机器人的动力学模型：2) Establish the dynamic model of the dual-arm robot from the end:

在任务模型中，建立从端双臂机器人与环境交互的动力学模型：In the task model, a dynamic model of the interaction between the dual-arm robot and the environment is established:

${{\begin{matrix} {F f}_{s the s}^{l l} = = {F f}_{e e}^{l l * *} + + {Z Z}_{e e} {V V}_{s the s}^{l l} \\ {F f}_{s the s}^{r r} = = {F f}_{e e}^{r r * *} + + {Z Z}_{e e} {V V}_{s the s}^{r r} \end{matrix} - - - - - - ((33))$

其中，和分别为环境对从端操作臂的作用力，和为环境对从端双臂的实际作用力，Z_e表示环境的阻抗，和分别表示从端的操作速度；in, and Respectively, the force exerted by the environment on the slave manipulator arm, and is the actual force of the environment on the two arms of the slave end, Z _e represents the impedance of the environment, and Respectively represent the operation speed of the slave end;

在任务模型中，建立双臂机器人的动力学模型：In the task model, establish the dynamic model of the dual-arm robot:

$\{\begin{matrix} {Z Z}_{s the s}^{l l} {V V}_{s the s}^{l l} = = - - {F f}_{s the s}^{l l} + + {F f}_{c c s the s}^{l l} \\ {Z Z}_{s the s}^{r r} {V V}_{s the s}^{r r} = = - - {F f}_{s the s}^{r r} + + {F f}_{c c s the s}^{r r} \end{matrix} - - - - - - ((44))$

其中，和分别为从端双臂的控制力，和分别表示从端左机械臂和右机械臂驱动力的质量模型阻抗；in, and are the control forces of the slave arms, respectively, and Represent the mass model impedance of the driving force of the left and right mechanical arms of the slave end, respectively;

3)主端控制器设计3) Master controller design

利用PD控制器设计两主手的控制力Using PD controller to design the control force of two main hands

$\{\begin{matrix} {F f}_{c c m m 11}^{l l} = = - - {C C}_{m m 11}^{l l} {V V}_{h h 11}^{l l} + + {C C}_{44 m m 11}^{l l} {V V}_{h h 11 d d}^{l l} - - {C C}_{66 m m 11}^{l l} {F f}_{h h 11}^{l l} + + {C C}_{22 m m 11}^{l l} {F f}_{h h 11 d d}^{l l} \\ {F f}_{c c m m 11}^{r r} = = - - {C C}_{m m 11}^{r r} {V V}_{h h 11}^{r r} + + {C C}_{44 m m 11}^{r r} {V V}_{h h 11 d d}^{r r} - - {C C}_{66 m m 11}^{r r} {F f}_{h h 11}^{r r} + + {C C}_{22 m m 11}^{r r} {F f}_{h h 11 d d}^{r r} \\ {F f}_{c c m m 22}^{l l} = = - - {C C}_{m m 22}^{l l} {V V}_{h h 22}^{l l} + + {C C}_{44 m m 22}^{l l} {V V}_{h h 22 d d}^{l l} - - {C C}_{66 m m 22}^{l l} {F f}_{h h 22}^{l l} + + {C C}_{22 m m 22}^{l l} {F f}_{h h 22 d d}^{l l} \\ {F f}_{c c m m 22}^{r r} = = - - {C C}_{m m 22}^{r r} {V V}_{h h 22}^{r r} + + {C C}_{44 m m 22}^{r r} {V V}_{h h 22 d d}^{r r} - - {C C}_{66 m m 22}^{r r} {F f}_{h h 22}^{r r} + + {C C}_{22 m m 22}^{r r} {F f}_{h h 22 d d}^{r r} \end{matrix} - - - - - - ((55))$

其中，和表示操作者i两主手PD控制器参数，各参数满足和和和操作者i左手和右手期望操作速度，和操作者i左手和右手期望作用力；in, and Indicates the parameters of operator i’s two main-hand PD controllers, and each parameter satisfies and and and Operator i's left-handed and right-handed desired operating speeds, and Operator i left and right hand expected force;

4)从端控制器设计4) Design of slave controller

利用PD控制器设计两从手的控制力Using PD controller to design the control force of two slave hands

$\{\begin{matrix} {F f}_{s the s}^{l l} = = - - {C C}_{s the s}^{l l} {V V}_{s the s}^{l l} + + {C C}_{11}^{l l} {V V}_{s the s d d}^{l l} - - {C C}_{55}^{l l} {F f}_{s the s}^{l l} + + {C C}_{33}^{l l} {F f}_{s the s d d}^{l l} \\ {F f}_{s the s}^{r r} = = - - {C C}_{s the s}^{r r} {V V}_{s the s}^{r r} + + {C C}_{11}^{r r} {V V}_{s the s d d}^{r r} - - {C C}_{55}^{r r} {F f}_{s the s}^{r r} + + {C C}_{33}^{r r} {F f}_{s the s d d}^{r r} \end{matrix} - - - - - - ((55))$

其中，和表示从手双臂PD控制器参数，各参数满足和和和从手左臂和右臂的期望操作速度，和从手左臂和右臂的期望作用力；in, and Indicates the parameters of the slave-hand dual-arm PD controller, and each parameter satisfies and and and From the desired operating speed of the left and right arms of the hand, and Expected forces from the left and right arms of the hand;

5)共享控制策略设计5) Shared control strategy design

共享控制策略通过期望速度和期望作用力实现，各操作者的主操作手只有一个，即左手或者右手，令操作者1的主操作手为右手，操作者2的操作手为左手；The shared control strategy is realized through the expected speed and expected force. Each operator has only one main operator, that is, the left hand or the right hand. The operator 1's main operator is the right hand, and the operator 2's operator is the left hand;

${V V}_{h h 11 d d}^{l l} = = {V V}_{s the s}^{l l}$

${V V}_{h h 22 d d}^{r r} = = {V V}_{s the s}^{r r}$

${V V}_{h h 11 d d}^{r r} = = {α α}_{11} {V V}_{h h 11}^{l l} + + ((11 - - {α α}_{11})) {V V}_{s the s}^{l l}$

${V V}_{h h 22 d d}^{l l} = = ((11 - - {α α}_{22})) {V V}_{h h 11}^{r r} + + {α α}_{22} {V V}_{s the s}^{r r}$

${F f}_{h h 11 d d}^{l l} = = {F f}_{s the s}^{l l}$

${F f}_{h h 22 d d}^{r r} = = {F f}_{s the s}^{r r}$

${F f}_{h h 11 d d}^{r r} = = {α α}_{11} {F f}_{h h 11}^{l l} + + ((11 - - {α α}_{11})) {F f}_{s the s}^{l l}$

${F f}_{h h 22 d d}^{l l} = = ((11 - - {α α}_{22})) {F f}_{h h 11}^{r r} + + {α α}_{22} {F f}_{s the s}^{r r}$

${V V}_{s the s d d}^{l l} = = {α α}_{33} {V V}_{h h 11}^{l l} + + ((11 - - {α α}_{33})) {V V}_{h h 22}^{l l}$

${V V}_{s the s d d}^{r r} = = ((11 - - {α α}_{33})) {V V}_{h h 11}^{r r} + + {α α}_{33} {V V}_{h h 22}^{r r}$

${F f}_{s the s d d}^{l l} = = {α α}_{33} {F f}_{h h 11}^{l l} + + ((11 - - {α α}_{33})) {F f}_{h h 22}^{l l}$

${F f}_{s the s d d}^{r r} = = ((11 - - {α α}_{33})) {F f}_{h h 11}^{r r} + + {α α}_{33} {F f}_{h h 22}^{r r}$

其中，α₁、α₂和α₃分别表示主手1、主手2和从端的共享优势因子，且满足条件α_i∈[0,1],i＝1,2,3；通过调节优势因子实现操作者操作训练过程的过渡。Among them, α ₁ , α ₂ and α ₃ respectively denote the shared advantage factors of master hand 1, master hand 2 and slave end, and satisfy the condition α _i ∈ [0,1], i=1,2,3; by adjusting the advantage factors Realize the transition of the operator's operation training process.

与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:

本发明考虑将双臂机器人系统在复杂中执行双臂协同操作任务，建立双手共享操作模型，实现两主手双手与机器人的操作映射，然后通过划分主操作手和辅助操作手，在主操作手在操作过程中区分主要操作臂和配合操作臂，主操作臂在操作过程中有较大的控制权值，在控制中起到主导作用，配合操作臂实现对主操作手的操作辅助，同时又可以避免主操作手在操作过程中，配合操作臂发生碰撞和误操作等情况，实现障碍物规避和双手精细遥操作，本发明可以用于单操作者双臂的精准遥操作和双臂遥操作训练，在空间多臂机器人在轨维护中具有重要意义。The present invention considers the dual-arm robot system to perform the dual-arm cooperative operation task in a complicated manner, establishes a two-hand shared operation model, and realizes the operation mapping between the two main hands and the robot, and then divides the main operator and the auxiliary operator, and the main operator In the operation process, the main operating arm and the cooperative operating arm are distinguished. The main operating arm has a large control weight in the operation process and plays a leading role in the control. It can avoid the collision and misoperation of the main operator during the operation process with the operating arm, and realize obstacle avoidance and fine teleoperation with both hands. The invention can be used for precise teleoperation and double-arm teleoperation of a single operator Training is of great significance in the on-orbit maintenance of space multi-arm robots.

【附图说明】【Description of drawings】

图1双臂机器人遥操作协同控制系统结构示意图Figure 1 Schematic diagram of the structure of the dual-arm robot teleoperation collaborative control system

图2共享训练之前和训练之后操作者的操作轨迹比较Figure 2 Comparison of the operator's operation trajectory before and after the shared training

图3不同训练阶段两操作者操作轨迹与训练轨迹比较Figure 3 Comparison of the two operators' operation trajectories with the training trajectories in different training stages

【具体实施方式】【detailed description】

下面结合附图对本发明做进一步详细描述：The present invention is described in further detail below in conjunction with accompanying drawing:

参见图1-图3，，它包括以下五个步骤：See Figure 1-Figure 3, which includes the following five steps:

1、建立双人双手操作的动力学模型：1. Establish a dynamic model of two-handed operation:

其中，和为操作者i对左手控器和右手控器的作用力，和为操作者i的实际控制力，和分别为操作者i的操作阻抗，和别为操作者i左手和右手的速度变量。in, and is the force exerted by operator i on the left and right controllers, and is the actual control force of operator i, and are the operating impedance of operator i, respectively, and Let be the velocity variables for operator i's left and right hands.

在任务模型中，建立两操作者双手的动力学模型In the task model, the dynamic model of the hands of the two operators is established

其中，和分别表示操作者i左操作手和右操作手驱动力的质量模型阻抗，s为拉普拉斯算子，和为操作者i的左手和右手控制力。in, and respectively represent the mass model impedance of the driving force of operator i’s left and right operators, s is the Laplacian operator, and are the left and right hand control forces of operator i.

2、建立从端双臂机器人的动力学模型：2. Establish the dynamic model of the slave-side dual-arm robot:

在任务模型中，建立从端双臂机器人与环境交互的动力学模型In the task model, establish a dynamic model of the interaction between the slave-side dual-arm robot and the environment

其中，和分别为环境对从端操作臂的作用力，和为环境对从端双臂的实际作用力，Z_e表示环境的阻抗，和分别表示从端的操作速度。in, and Respectively, the force exerted by the environment on the slave manipulator arm, and is the actual force of the environment on the two arms of the slave end, Z _e represents the impedance of the environment, and Respectively represent the operating speed of the slave.

在任务模型中，建立双臂机器人的动力学模型In the task model, establish the dynamic model of the dual-arm robot

其中，和分别为从端双臂的控制力，和分别表示从端左机械臂和右机械臂驱动力的质量模型阻抗。in, and are the control forces of the slave arms, respectively, and Represent the mass model impedances of the driving forces of the slave left and right manipulators, respectively.

3、主端控制器设计3. Design of master controller

其中，和表示操作者i两主手PD控制器参数，各参数满足和和和操作者i左手和右手期望操作速度，和操作者i左手和右手期望作用力。in, and Indicates the parameters of operator i’s two main-hand PD controllers, and each parameter satisfies and and and Operator i's left-handed and right-handed desired operating speeds, and Operator i left and right hand expected forces.

4、从端控制器设计4. Design of slave controller

其中，和表示从手双臂PD控制器参数，各参数满足和和和从手左臂和右臂的期望操作速度，和从手左臂和右臂的期望作用力。in, and Indicates the parameters of the slave-hand dual-arm PD controller, and each parameter satisfies and and and From the desired operating speed of the left and right arms of the hand, and Expected forces from the left and right arms of the hand.

5、共享控制策略设计5. Shared control strategy design

共享控制策略通过期望速度和期望作用力实现，各操作者的主操作手只有一个，即左手或者右手，令操作者1的主操作手为右手，操作者2的操作手为左手。The shared control strategy is realized through the expected speed and expected force. Each operator has only one main manipulating hand, that is, the left hand or the right hand. Let the main manipulating hand of operator 1 be the right hand, and the manipulating hand of operator 2 be the left hand.

${V V}_{h h 11 d d}^{l l} = = {V V}_{s the s}^{l l}$

${V V}_{h h 22 d d}^{r r} = = {V V}_{s the s}^{r r}$

${F f}_{h h 11 d d}^{l l} = = {F f}_{s the s}^{l l}$

${F f}_{h h 22 d d}^{r r} = = {F f}_{s the s}^{r r}$

其中，α₁，α₂和α₃分别表示主手1，主手2和从端的共享优势因子，且满足条件α_i∈[0,1],i＝1,2,3。通过调节优势因子实现操作者操作训练过程的过渡。取操作两台Falcon手控器左手画圆右手画方形操作，其中圆形的半径为2cm，方形的变长为4cm，操作者1主操作手为右手，操作者2主操作手为左手，操作训练过程共分为三个过程，第一过程中取α₁＝1,α₂＝0,α₃＝0.5，第二过程中取α₁＝0.7,α₂＝0.3,α₃＝0.5，第三过程中取α₁＝0.5,α₂＝0.5,α₃＝0.5，训练的结果如图2和图3所示，可见通过训练双手的协同操作的轨迹误差变小，并且随着训练的程度的加深，训练的效果逐渐变好。Among them, α ₁ , α ₂ and α ₃ respectively represent the shared advantage factors of master hand 1, master hand 2 and slave end, and satisfy the condition α _i ∈ [0,1], i=1,2,3. The transition of the operator's operation training process is realized by adjusting the advantage factor. Pick Operate two Falcon hand controllers to draw a circle with the left hand and draw a square with the right hand. The radius of the circle is 2cm, and the length of the square is 4cm. The main operator of operator 1 is the right hand, and the main operator of operator 2 is the left hand. Operation training The process is divided into three processes. In the first process, α ₁ =1, α ₂ =0, α ₃ =0.5, in the second process α ₁ =0.7, α ₂ =0.3, α ₃ =0.5, in the third process During the process, α ₁ = 0.5, α ₂ = 0.5, α ₃ = 0.5. The training results are shown in Figure 2 and Figure 3. It can be seen that the trajectory error of the coordinated operation of both hands becomes smaller through training, and with the degree of training Deepen, the effect of training gradually becomes better.

以上内容仅为说明本发明的技术思想，不能以此限定本发明的保护范围，凡是按照本发明提出的技术思想，在技术方案基础上所做的任何改动，均落入本发明权利要求书的保护范围之内。The above content is only to illustrate the technical ideas of the present invention, and cannot limit the protection scope of the present invention. Any changes made on the basis of the technical solutions according to the technical ideas proposed in the present invention shall fall within the scope of the claims of the present invention. within the scope of protection.

Claims

1. A teleoperation control system of a double-person shared double-arm robot is characterized by comprising the following steps:

1) establishing a dynamic model of double-person and double-hand operation:

\{\begin{matrix} F_{h 1}^{l} = {F_{h 1}^{l}}^{*} - Z_{h 1}^{l} V_{h 1}^{l} \\ F_{h 1}^{r} = {F_{h 1}^{r}}^{*} - Z_{h 1}^{r} V_{h 1}^{r} \\ F_{h 2}^{l} = {F_{h 2}^{l}}^{*} - Z_{h 2}^{l} V_{h 2}^{l} \\ F_{h 2}^{r} = {F_{h 2}^{r}}^{*} + Z_{h 2}^{r} V_{h 2}^{r} \end{matrix} - - - (1)

wherein,andfor the operator i to exert force on the left hand controller and the right hand controller,andfor the actual control force of the operator i,andrespectively, the operating impedances of the operator i,andthe speed variables of the left hand and the right hand of an operator i are respectively;

in the task model, a dynamics model of both hands of two operators is established:

\{\begin{matrix} Z_{m 1}^{l} V_{h 1}^{l} = F_{h 1}^{l} + F_{c m 1}^{l} \\ Z_{m 1}^{r} V_{h 1}^{r} = F_{h 1}^{r} + F_{c m 1}^{r} \\ Z_{m 2}^{l} V_{h 2}^{l} = F_{h 2}^{l} + F_{c m 2}^{l} \\ Z_{m 2}^{r} V_{h 2}^{r} = F_{h 2}^{r} + F_{c m 2}^{r} \end{matrix} - - - (2)

wherein,andmass model impedances representing the driving forces of the left and right hands of the operator i, respectively, s is the laplace operator,andleft and right hand control forces for operator i;

2) establishing a dynamic model of the slave-end double-arm robot:

in the task model, a dynamic model of interaction between the slave-end double-arm robot and the environment is established:

{\begin{matrix} F_{s}^{l} = F_{e}^{l *} + Z_{e} V_{s}^{l} \\ F_{s}^{r} = F_{e}^{r *} + Z_{e} V_{s}^{r} \end{matrix} - - - (3)

wherein,andrespectively the force of the environment on the slave-end operating arm,andfor the actual force of the environment on the arms at the slave end, Z_eWhich represents the impedance of the environment and,andrespectively representing the operation speed of the slave end;

in the task model, a dynamic model of the two-arm robot is established:

\{\begin{matrix} Z_{s}^{l} V_{s}^{l} = - F_{s}^{l} + F_{c s}^{l} \\ Z_{s}^{r} V_{s}^{r} = - F_{s}^{r} + F_{c s}^{r} \end{matrix} - - - (4)

wherein,andrespectively the control force of the two arms at the slave end,andmass model impedances representing driving forces of the left and right robot arms from the end, respectively;

3) master controller design

Designing control force of two main hands by using PD controller

\{\begin{matrix} F_{c m 1}^{l} = - C_{m 1}^{l} V_{h 1}^{l} + C_{4 m 1}^{l} V_{h 1 d}^{l} - C_{6 m 1}^{l} F_{h 1}^{l} + C_{2 m 1}^{l} F_{h 1 d}^{l} \\ F_{c m 1}^{r} = - C_{m 1}^{r} V_{h 1}^{r} + C_{4 m 1}^{r} V_{h 1 d}^{r} - C_{6 m 1}^{r} F_{h 1}^{r} + C_{2 m 1}^{r} F_{h 1 d}^{r} \\ F_{c m 2}^{l} = - C_{m 2}^{l} V_{h 2}^{l} + C_{4 m 2}^{l} V_{h 2 d}^{l} - C_{6 m 2}^{l} F_{h 2}^{l} + C_{2 m 2}^{l} F_{h 2 d}^{l} \\ F_{c m 2}^{r} = - C_{m 2}^{r} V_{h 2}^{r} + C_{4 m 2}^{r} V_{h 2 d}^{r} - C_{6 m 2}^{r} F_{h 2}^{r} + C_{2 m 2}^{r} F_{h 2 d}^{r} \end{matrix} - - - (5)

Wherein,andrepresenting the PD controller parameters of two main hands of an operator i, and each parameter satisfiesAnd andandthe operator i desires the operating speed for the left and right hand,andoperator i left and right hand desired forces;

4) slave controller design

Designing control force of two slave hands by using PD controller

\{\begin{matrix} F_{s}^{l} = - C_{s}^{l} V_{s}^{l} + C_{1}^{l} V_{s d}^{l} - C_{5}^{l} F_{s}^{l} + C_{3}^{l} F_{s d}^{l} \\ F_{s}^{r} = - C_{s}^{r} V_{s}^{r} + C_{1}^{r} V_{s d}^{r} - C_{5}^{r} F_{s}^{r} + C_{3}^{r} F_{s d}^{r} \end{matrix} - - - (5)

Wherein,andrepresenting parameters of the slave dual-arm PD controller, each parameter satisfyingAnd and andfrom the desired operating speeds of the left and right hand arms,anddesire from left and right hand armsActing force;

5) shared control strategy design

The sharing control strategy is realized through the expected speed and the expected acting force, only one main operating hand, namely the left hand or the right hand, of each operator is used, the main operating hand of the operator 1 is made to be the right hand, and the operating hand of the operator 2 is made to be the left hand;

V_{h 1 d}^{l} = V_{s}^{l}

V_{h 2 d}^{r} = V_{s}^{r}

V_{h 1 d}^{r} = α_{1} V_{h 1}^{l} + (1 - α_{1}) V_{s}^{l}

V_{h 2 d}^{l} = (1 - α_{2}) V_{h 1}^{r} + α_{2} V_{s}^{r}

F_{h 1 d}^{l} = F_{s}^{l}

F_{h 2 d}^{r} = F_{s}^{r}

F_{h 1 d}^{r} = α_{1} F_{h 1}^{l} + (1 - α_{1}) F_{s}^{l}

F_{h 2 d}^{l} = (1 - α_{2}) F_{h 1}^{r} + α_{2} F_{s}^{r}

V_{s d}^{l} = α_{3} V_{h 1}^{l} + (1 - α_{3}) V_{h 2}^{l}

V_{s d}^{r} = (1 - α_{3}) V_{h 1}^{r} + α_{3} V_{h 2}^{r}

F_{s d}^{l} = α_{3} F_{h 1}^{l} + (1 - α_{3}) F_{h 2}^{l}

F_{s d}^{r} = (1 - α_{3}) F_{h 1}^{r} + α_{3} F_{h 2}^{r}

wherein, α₁、α₂And α₃Respectively represent the shared dominance factors of the master 1, the master 2 and the slave, and satisfy the condition α_i∈[0,1]I is 1,2, 3; and the transition of the operator operation training process is realized by adjusting the dominance factor.