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A Variable Admittance Teleoperation Control Method Fused with Multiple Information

A technology of teleoperation control and variable admittance, which is applied in the field of space robots, can solve problems such as fuzzy and time-delayed operating systems, uncontrollable environmental factors, unstable task instructions, etc., achieve good control effects, ensure operational continuity, and reduce The effect of pressure

Active Publication Date: 2017-11-28
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The design of the controller in the traditional space teleoperation system is only designed for the main factors that affect the performance of the teleoperation, but in the actual operation process, the uncontrollable environmental factors, the instability of the operator's behavior, and the ambiguity and delay of the task instruction, etc. Both are factors that cause the instability of the operating system. In addition, the design of the adaptability of the controller is also a method to improve the stability of the system.

Method used

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  • A Variable Admittance Teleoperation Control Method Fused with Multiple Information
  • A Variable Admittance Teleoperation Control Method Fused with Multiple Information
  • A Variable Admittance Teleoperation Control Method Fused with Multiple Information

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0094] A specific embodiment of the present invention uses an adaptive controller of multi-information fusion to control the end of the manipulator to perform obstacle avoidance experiments in a virtual environment. The specific process is as follows:

[0095] 1. Construct the experimental scene:

[0096] In the experiment, the master end uses a Force Dimension Omega3.0 hand controller with 3 degrees of freedom, and the slave end is a virtual robot arm with 6 degrees of freedom. The hand controller controls the end of the robot arm. The graphics library creates a three-dimensional view window, and the operator controls the slave manipulator through the simulation platform to complete the experimental task.

[0097] 2. Information exchange channel setting:

[0098] In the experiment, the host machine of the hand controller is the core of information interaction, and the task command receiving module, the control signal sending module and the feedback signal receiving module ar...

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Abstract

The invention discloses a multi-information variable admittance remote operation control method, which belongs to the field of space robots and the field of remote operation. The present invention designs an adaptive controller including damping, integrates the operator's behavior awareness into the controller design, and generates a control signal Uh, which can reduce the pressure on the operator through adaptive adjustment of the damping ratio; Simulate and feed back the control signal Ue in real time, and the real-time collection and correction of environmental information keeps the system stable; finally, by using the Hidden Markov Model (HMW) for task identification, and adaptively changing the task instructions according to the actual operation requirements, thus Ensure operational continuity and improve operational efficiency.

Description

【Technical field】 [0001] The invention belongs to the field of space robots and the field of remote operation, and relates to a multi-information variable admittance remote operation control method. 【Background technique】 [0002] From the application of space robots in the 1960s to today, the application fields of space robots are constantly expanding, and the complexity of the tasks undertaken by space robots is also increasing: from repetitive operations in a structured known environment to unstructured tasks. Non-repetitive operations in an unknown environment, and its precision requirements are getting higher and higher. It is necessary to complete some precise tasks such as moving target acquisition, satellite assembly, and satellite maintenance. At the same time, the operator is required to have flexible and stable operations. Considering factors such as the unknown of the operating environment, the uncertainty of the operator's behavior, and the complexity of the ope...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042G05B2219/33004H04L63/08H04L63/0807H04L63/0892H04L63/10H04L67/02H04L67/025H04L63/0884H04L67/10H04L67/535H04L67/52G06Q30/0601H04L63/083
Inventor 黄攀峰潘吉祥鹿振宇刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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