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Wave integral bilateral teleoperation control method based on LS-SVM (least square support vector machine) delay predication

A technology of remote operation control and wave integration, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of ensuring stability

Inactive Publication Date: 2015-04-08
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

In order to overcome the impact of time-varying delay on the stability and operability of the teleoperation system, the present invention proposes a wave-integrated bilateral teleoperation control method based on LS-SVM for delay prediction to solve the time-varying delay teleoperation control method. Stability issues of the operating system, and ensure that the slave hand of the system can track the movement of the master hand well

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  • Wave integral bilateral teleoperation control method based on LS-SVM (least square support vector machine) delay predication
  • Wave integral bilateral teleoperation control method based on LS-SVM (least square support vector machine) delay predication
  • Wave integral bilateral teleoperation control method based on LS-SVM (least square support vector machine) delay predication

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[0032] The present invention proposes a wave-integrated bilateral teleoperation control method based on LS-SVM for delay prediction, which will be described in detail below with reference to the content of the invention and the accompanying drawings.

[0033] 1. Building the principle block diagram of teleoperation system

[0034] (1) Build the schematic diagram

[0035] Refer to the principle of ordinary passive wave variable method (see figure 1 ), design the principle block diagram of wave integral bilateral teleoperation control method based on LS-SVM for delay prediction, mainly including master hand, master controller, communication link, slave controller, slave hand, LS-SVM delay prediction link, wave integral link (see figure 2 );

[0036] (2) Define the functional block diagram (see figure 2 ) in the meaning of each parameter and the relationship between them:

[0037] In the figure, the human hand exerts a force f h and the contact force f fed back from the s...

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Abstract

The invention provides a wave integral bilateral teleoperation control method based on LS-SVM (least square support vector machine) delay predication, which can be applied to a teleoperation system under time-varying delay. On the basis of a passivity wave variable method, a delay predication step and a wave integral step for the LS-SVM are added, the LS-SVM method is used for delay predication, predication delay which has small error with actual delay is obtained, the wave integral method can be used for enabling the communication step to have passivity, and thus instability caused to the teleoperation system due to time variable delay can be overcome. The invention relates to a control method in the teleoperation system under time-varying delay; at the main end, the force applied by a hand and the contact force fed back to the main end from a slave end together act on the main hand, speed and displacement are generated by the main hand, the speed signals of the main hand are transmitted to the slave end via a communication channel, and the signals serve as a control command to control movement of the slave hand.

Description

technical field [0001] The invention relates to a wave integral bilateral teleoperation control method based on LS-SVM time delay prediction. The method is based on the common passive wave variable method, and adds the LS-SVM time delay prediction link and the wave integration link, so that It is suitable for the teleoperation system under the condition of time-varying delay. It belongs to the technical field of remote operation control. Background technique [0002] Teleoperation technology has penetrated into many fields, such as aerospace field, deep sea operation and telemedicine, etc., and has broad application prospects. The force feedback bilateral remote control system can make the operator feel present. Aiming at the stability of the bilateral teleoperation system, there are many research methods at present, among which the control strategy based on modern control theory has become the development trend of the bilateral teleoperation control system. The bilateral...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 宋荆洲余再海孙汉旭贾庆轩
Owner BEIJING UNIV OF POSTS & TELECOMM
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