Four-channel bilateral teleoperation control system based on actual force feedback

Abstract

The invention relates to a four-channel bilateral control method which is applied to a teleoperation system with an unknown slave-end environment and requirements on knowing master-slave force information, and belongs to the technical field of teleoperation control. By the system, transmission and feedback of actual force between a master end and a slave end can be realized, the force can be corrected by position errors and velocity disturbance, and accuracy of the system is improved. The invention relates to the control method for a teleoperation system with long time delay. Force applied by a master-end operator is directly transmitted to a slave-end mechanical arm, and contact force of the slave-end mechanical arm and the environment is fed back to the operator, a four-channel control structure for transmitting the actual force of the master end and the slave end in two directions is provided, and the force is corrected by the master-slave position errors. Various performance indexes in the system during free movement and contact movement are comprehensively analyzed by a Lyapunov function and a passive theory. Models are not required to be created in advance in the slave-end environment, and the four-channel bilateral control method and the system are applicable to the unknown and unstructured slave-end environment, and requirements on stability, transparency and traceability of the system can be met.

Description

1. Technical Field [0001] The invention relates to a four-channel bilateral control method, which is applied to a teleoperation system where the slave end environment is unknown and the master and slave information needs to be known. The system can realize the real force transmission and feedback between the master and the slave, and use position error and speed disturbance for force correction to increase system accuracy. It belongs to the field of teleoperation control technology. 2. Background technology [0002] (1) Research status [0003] At present, teleoperation technology has penetrated into many fields, such as aerospace, deep-sea operations, and telemedicine, and has broad application prospects. The force feedback bilateral teleoperation system can make the operator have a sense of presence. In view of the stability of the bilateral teleoperation system, there have been many research methods. Among them, the control strategy based on modern control theory has become t...

AI Technical Summary

Problems solved by technology

[0006] This four-channel structure studied with impedance control has certain limitations:

[0007] 1) For different operating environments, it is difficult to accurately model the environmental impedance of the slave end;

[0008] 2) Only the position or speed of the master hand is transmitted to the slave arm, without considering the effect of real human hand force;

[0009] 3) The secondary environmental force estimated by the equivalent model is a virtual force, which cannot fully reflect the real force effect

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