A human-robot interaction control strategy for teleoperation robot system under multi-scenario applications

The teleoperation robot system (TRS) stands as a prominent research frontier within robot control, amalgamating human decision-making capacity with robot operation, thus markedly enhancing safety and precision compared to autonomous operation. This paper selects TRS hardware and designs master-slave interaction software comprising six distinct modules tailored to diverse functionalities. It further derives forward and backward kinematic equations based on master-slave device linkage parameters, proposing a Cartesian workspace-based master-slave mapping algorithm. Additionally, a human-robot interaction (HRI) control framework emphasizing direct force feedback is devised to bolster system HRI performance and operator immersion. To ensure smooth, safe, and agile slave device movement, an innovative impedance controller-based TRS force feedback HRI control framework is introduced. The effectiveness of the TRS HRI control framework is validated via comprehensive experiments conducted across multiple scenarios, including remote robot axle-hole assembly, blackboard erasing, text writing, and auxiliary welding operations, on a constructed experimental platform for robot remote operation system HRIs.