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A Timed Delay Remote Operation Control Method Based on Wave Variable

A technology of teleoperation control and wave variable, which is applied in the field of timing delay teleoperation control based on wave variable, can solve problems such as time delay stability, and achieve the goal of improving the fidelity of force feedback, ensuring stability, and good position tracking performance Effect

Active Publication Date: 2017-11-28
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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  • Claims
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Problems solved by technology

[0003] The purpose of the present invention is to solve the stability problem caused by time delay in teleoperation, a wave variable-based timing delay teleoperation control method, which can simultaneously improve the tracking performance and force feedback fidelity in the teleoperation process

Method used

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  • A Timed Delay Remote Operation Control Method Based on Wave Variable
  • A Timed Delay Remote Operation Control Method Based on Wave Variable
  • A Timed Delay Remote Operation Control Method Based on Wave Variable

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Embodiment Construction

[0055] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0056] see image 3 , the present invention is based on the wave variable timing delay remote operation control method, comprising the following steps:

[0057] 1) Establish the dynamic model of the master end and the slave end:

[0058]

[0059]

[0060]

[0061] where M m = 1kg, M s =1kg, B=80Ns / m, K=80N / m, f mc Indicates the control force fed back from the slave to the master, f sc Indicates the control force produced by the slave controller, f h Indicates the force exerted by the hand on the main end, f e Indicates the force exerted by the environment on the slave. Indicates the expected speed of transmission from the master to the slave, and Respectively represent the actual speed of the master and slave, B and K respectively represent the differential parameters and proportional parameters of the slave controller. T...

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Abstract

The invention discloses a fixed time delay teleoperation control method based on a wave variable. A dynamical model and a time delay model of a master-slave terminal are established, a forward channel wave variable compensation term is designed, a backward channel wave variable compensation term is designed and finally an energy setting device is designed so that a problem of stability caused by time delay in teleoperation can be solved, and tracking performance and force feedback fidelity in the teleoperation process can be enhanced. Stability of a teleoperation system under the condition of fixed time delay can be greatly guaranteed so that the method has great position tracking performance and great force feedback fidelity. According to the teleoperation control method, stability of the teleoperation system under the condition of time delay can be guaranteed through a wave variable method, and position and force tracking performance of the time delay teleoperation system can also be enhanced.

Description

【Technical field】 [0001] The invention belongs to the field of remote operation control, and in particular relates to a timing delay remote operation control method based on wave variables. 【Background technique】 [0002] Teleoperation has already played an important role in many fields such as space robot, high-precision assembly, surgery and so on. In the teleoperation system, the operator interacts with the remote environment by operating the slave's robotic arm. Teleoperation can provide the operator with a safe environment and a strong sense of presence. But the time delay greatly affects the stability of teleoperation, and the time delay widely exists in the communication channel. The wave variable method was born out of the passive control theory, which can well solve the problem of teleoperation stability caused by time delay. 【Content of invention】 [0003] The purpose of the present invention is to solve the stability problem caused by the time delay in teleop...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 黄攀峰戴沛刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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