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Network teleoperation robot system and time delay overcoming method

A teleoperation robot and network technology, applied in the field of robotics, can solve problems such as complex control algorithms

Inactive Publication Date: 2012-12-19
JIANGSU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But predictive control also has its own shortcomings. It is a model-based precise control method that needs to know the precise model of the manipulator and the environment, and the control algorithm is relatively complex.

Method used

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  • Network teleoperation robot system and time delay overcoming method
  • Network teleoperation robot system and time delay overcoming method
  • Network teleoperation robot system and time delay overcoming method

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Embodiment Construction

[0074] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0075] Such as figure 1 As shown, the network teleoperation robot system consists of two manipulators with the same structure and symmetrical functions connected together through the network communication link.

[0076] Such as figure 2 As shown, the network teleoperation robot system includes a master manipulator 1, a slave manipulator 2, a master computer 3, a slave computer 4, a first data acquisition card 5, a second data acquisition card 6, a first single-chip microcomputer 7, and a second single-chip microcomputer 8. The main computer 3 collects the position and force signal of the master mechanical arm 1 through the first data acquisition card 5, and the slave computer 4 acquires the position and force signal of the slave mechanical arm 2 through the second data acquisition card 6. 3 and the slave computer 4 transmit the position and...

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Abstract

The invention discloses a network teleoperation robot system and a time delay overcoming method. The system is formed by linking two manipulators with the same structure and symmetrical functions through a network communication link. A main manipulator is operated by an operator so that the main manipulator is acted; the main manipulator transmits an action signal to a secondary manipulator through force and angle displacement sensors, and a communication control link, so that the secondary manipulator can move in the same direction along the main manipulator. When the secondary manipulator is affected by the environment, the secondary manipulator can return the signal to the main manipulator along the original path, thus, the main manipulator can feel the same action of the environment and feed back to the operator. By adopting a modeling method based on an event and a fuzzy predictive control algorithm, the system has good robustness on the model mismatch; therefore, the system can overcome the influence caused by the network time delay.

Description

technical field [0001] The invention relates to a robot control system and method, in particular to a network-based teleoperation robot control system and a method for overcoming time delay, belonging to the technical field of robots. Background technique [0002] Since the 1990s, computer network technology has developed rapidly. With the help of computer network, mechatronics and sensor technologies, the robot can be connected to the network, and the network-based teleoperation robot can be realized. The network teleoperation robot can use the network as a medium to connect the operator and the robot at both ends of the network. The operator uses the state information such as sound, image, position, and force fed back from the remote end to interactively control the remote robot in real time. , to complete operations such as production, experimentation, and exploration. [0003] However, as teleoperating robots are widely used in various fields of space, deep sea, industr...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 曾庆军陈静王彪章飞陈伟
Owner JIANGSU UNIV OF SCI & TECH
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