Force guidance telerobotic system and control method based on dual-arm collaborative potential field

Abstract

Disclosed are a force guidance telerobotic system and control method based on a dual-arm collaborative potential field. A real-time pose of a tool center point of each of the two robotic arms is obtained using a robotic arm kinematic model, and checking is performed to determine whether a shortest distance dbetween a target object and a workspace boundary of each of the two robotic arms is lower than a threshold D; a dual-arm symmetric collaboration strategy will be adopted when higher than the threshold; a single-arm primary collaboration strategy will be adopted when lower than the threshold; and a coordination factor δof each of the robotic arms is determined according to the collaboration strategy; the dual-arm collaborative potential field is constructed according to the collaboration factor, a distance between the target object and the tool center point and a position of obstacle.