Implementation method of force telepresence of telerobotics based on integration of virtual strength and real strength

An implementation method and a technology of presence, applied in the field of control, can solve problems such as limited transmission bandwidth, achieve the effect of reducing communication bandwidth requirements and reducing the impact of instability

Inactive Publication Date: 2011-03-16
NANTONG MAOYI MACHINE TOOL +1
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0003] In addition, in the actual teleoperation system, the delay is usually constantly changing, and the transmission bandwidth in the communication process is limited, which brings more challenges to the control of the teleoperation system

Method used

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  • Implementation method of force telepresence of telerobotics based on integration of virtual strength and real strength
  • Implementation method of force telepresence of telerobotics based on integration of virtual strength and real strength
  • Implementation method of force telepresence of telerobotics based on integration of virtual strength and real strength

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Embodiment Construction

[0026] The embodiments of the present invention will be further described in detail below, but the protection scope of the technical solution of the present invention is not limited to the following embodiments.

[0027] The control structure of the present invention is composed of a master robot, a communication delay link, a slave robot, an environment, a virtual environment between the master robot and the communication delay environment, a high-pass filter and a low-pass filter.

[0028] The establishment of the virtual environment is to simulate the real environment as accurately as possible based on prior knowledge, but in the process of interacting with the environment, there will always be errors between the real environment and the real environment due to modeling uncertainties, time delay and other issues. Let the real environment model be x is the position variable, the error of the virtual force feedback of the virtual environment is a random noise proportional to...

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Abstract

The invention relates to an implementation method of force telepresence of a telerobotics based on integration of virtual strength and real strength, which comprises the following steps: a master side position signal xm is produced by an operator through a master robot, the master side position signal xm enters into a communication time delay environment, a slave side position signal xs is formed after time delay, and the slave side position signal xs further enters into a slave robot as the input of the slave robot. The slave robot outputs an environmental position signal xe to be acted on the environment, the environment simultaneously provides environmental reacting force fe for the slave robot, the slave robot outputs a slave side force signal fs according to the environmental reacting force fe, a master side force signal fm is outputted after entering the communication time delay link for delay, the master side force signal fm further enters into a low-pass filter, and a low-frequency force signal fmwL is outputted. The other line of the master side position signal xm enters into a virtual environment, a model of the virtual environment outputs a virtual force signal fv, the virtual force signal fv further enters into a high-pass filter for processing, and the high-pass filter outputs a high-frequency force signal fv omega H. The high-frequency force signal fv omega H and the low-frequency force signal fmwL are superimposed, a new master side force signal fmn is formed and the signal is acted on the master robot.

Description

technical field [0001] The invention relates to control technology, in particular, to a method for realizing force sense telepresence of a teleoperated robot based on fusion of virtual power. Background technique [0002] In the force telepresence teleoperation robot system, the master side sends position signals to the slave side, and the slave side feeds back the force signal to the operator, thus forming a closed operation loop. This closed loop of operation is stable if there is no delay. However, since force telepresence teleoperation robot systems are usually used in space, deep sea and other remote control occasions, the communication delay between the slave robot and the local operator often becomes a prominent problem affecting the normal operation of the remote operation system. In order to overcome the influence of time delay, many methods have been proposed, which can be mainly divided into two categories: 1. Starting from the control algorithm, such as the cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
Inventor 宋爱国李新吴涓崔建伟
Owner NANTONG MAOYI MACHINE TOOL
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