BILATERAL TELEOPERATION SYSTEM AND CONTROL METHOD THEREFOR

WIPO Patent Application WO/2022/166770

A1

A bilateral teleoperation system, comprising a master end operation platform (101) and a slave end operation platform (102). The master end operation platform (101) comprises a master end bracket (11), a master end mechanical arm (12), a manipulator control assembly (13) and a first controller, wherein the root end of the master end mechanical arm (12) is arranged on the master end bracket (11), and the tail end of the master end mechanical arm (12) is connected to the manipulator control assembly (13). The slave end operation platform (102) comprises: a slave end bracket (21), a slave end mechanical arm (22), a slave end manipulator (23) and a second controller, wherein the root end of the slave end mechanical arm (22) is arranged on the slave end bracket (21), and the tail end of the slave end mechanical arm (22) is connected to the slave end manipulator (23); and the master end mechanical arm (12) and the slave end mechanical arm (22) are isomorphic mechanical arms, and the first controller of the master end operation platform (101) is in communication connection with the second controller of the slave end operation platform (102). In the system, a Cartesian space and a joint space of the master end mechanical arm (12) directly correspond to a Cartesian space and a joint space of the slave end mechanical arm (22), so as to control the slave end mechanical arm (22), which can effectively prevent redundant joints from losing control of motion in null space, and enable control over the slave end mechanical arm (22) to be more intuitive. Further provided is a bilateral teleoperation control method.

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XIONG KUN (CN)
ZHAO LONGFEI (CN)
ZHANG DONGSHENG (CN)
WEI LEI (CN)
ZHOU CHENG (CN)
WANG HAITAO (CN)
LEE WANGWEI (CN)
CHEN KE (CN)
HUANG BIDAN (CN)
REN YI (CN)

PCT/CN2022/074388

August 11, 2022

January 27, 2022

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TENCENT TECH SHENZHEN CO LTD (CN)

B25J3/00; B25J9/16

CN111409074A	2020-07-14
CN102615637A	2012-08-01
CN111251336A	2020-06-09
US20200198120A1	2020-06-25
JP2012125851A	2012-07-05

ADVANCE CHINA IP LAW OFFICE (CN)

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