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Wave variable calculation method for variable advantage factor double teleoperation

A technology of teleoperation and wave variable, which is applied in the field of teleoperation and can solve the problem that the single master hand and single slave hand operation mode is difficult to meet the increasingly complex tasks.

Inactive Publication Date: 2015-12-23
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the application field of complex space tasks such as on-orbit assembly, the operation mode of one master hand and one slave hand is difficult to meet the increasingly complex tasks

Method used

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  • Wave variable calculation method for variable advantage factor double teleoperation
  • Wave variable calculation method for variable advantage factor double teleoperation
  • Wave variable calculation method for variable advantage factor double teleoperation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0080] Step 1: Establish a master-slave dynamics model for two-person teleoperation with variable dominance factors

[0081] Build the model according to (1-1)(1-2)(1-3) above. The specific parameter selection is shown in the table below:

[0082] Ms+B+K / s

M (Kg)

B(N·s / m)

K(N / m)

Master 1, subscript m 1

1.5

7

120

Master 2, subscript m 2

3

5

150

From end, subscript s

1.5

1

200

[0083] Establish the desired position and force relationship between the master end and the slave end, choose α 1 = α 2 =0.5

[0084] Step 2: Design the master-side variables to be transmitted

[0085] δ · = α · 3 x m 1 + α 3 x · m ...

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Abstract

The invention discloses a wave variable calculation method for a variable advantage factor double teleoperation. The method comprises: firstly, establishing master end and slave end kinetic models of the variable advantage factor double teleoperation; secondly, designing a to-be-transmitted master end variable; thirdly, selecting a wave variable and establishing a communication model; and finally, obtaining the wave variable. According to the method disclosed by the invention, location information of a plurality of master ends is fused, and wave variable conversion is carried out. A relatively small amount of wave variable information needs to be transmitted. Compared to a conventional method for transmitting location information of two master ends via respective transmission channels, the method disclosed by the invention only needs one channel to transmit the wave variable information. In addition, aimed at the time delay problem ubiquitous in the teleoperation, the passivity of the teleoperation can be ensured very well. According to the wave variable method adopted by the invention, energy is temporarily stored in a remote operating system through time delay, so that the passivity of the remote operating system can be ensured, and the remote operating system has stability.

Description

【Technical field】 [0001] The invention belongs to the field of teleoperation, and in particular relates to a wave variable calculation method for two-person teleoperation with variable dominant factors. 【Background technique】 [0002] Time delay is an inevitable objective phenomenon in the field of teleoperation. The existence of time delay greatly affects the stability and operation performance of teleoperation. The wave variable method is proposed for the time-delay teleoperation system. The passivity of the system in communication transmission can be well guaranteed, which is of great significance for reducing the impact of delay on teleoperation. [0003] In the field of teleoperation, the traditional operation mode of single master hand and single slave hand is restricted. In the application field of complex space tasks such as on-orbit assembly, the operation mode of one master and one slave is difficult to meet the increasingly complex tasks. For this reason, in rec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F19/00
Inventor 黄攀峰戴沛刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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