Wave variable four-channel bilateral control method based on master-end force buffer

A control method and four-channel technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of control lag at the slave end, affecting system transparency and tracking, etc.

Active Publication Date: 2016-04-06
BEIJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the introduction of communication delay in the bilateral control system, the system’s control of the slave end always lags behind the master end. If no appropriate control method is adopted, the effect of synchronous control of the master and slave ends without time delay cannot be achieved. Relative position errors will always exist, which will directly affect the transparency and tracking of the system

Method used

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  • Wave variable four-channel bilateral control method based on master-end force buffer
  • Wave variable four-channel bilateral control method based on master-end force buffer
  • Wave variable four-channel bilateral control method based on master-end force buffer

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Experimental program
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Effect test

Embodiment

[0162] Step 1: Establish a dynamic model of the bilateral control system under time delay.

[0163] In formula (1)(2), take

[0164] m m =m s =0.5, b m = B s = 0.2.

[0165] The delay of the forward channel and the reverse channel in the task are both 0.5s.

[0166] Step 2: Design the master controller

[0167] The parameters of the control system are as follows:

[0168] Z m =Z s =0.5s, C m =0.2+0.2 / s, C s =0.2+0.2 / s.

[0169] C 1 =Z s +C s , C 2 =0.1, C 3 =0.5, C 4 =-(Z m +C m ), C 5 = 0.2.

[0170] Z h =0.5s+1+0.2 / s, Z e =0.5 / s.

[0171] b VF = 1, b V =0.1, b F = 10.

[0172] Combining the above specific data and formula (7), the transfer matrix H of the master-end controller model can be obtained M for

[0173] H M = e - 0.5 s + 0.5 - ( 0.5 s + 0.2 + 0.2 / s ) 0.5 0.5 s + 0.2 + 0.2 / s - - - ( 38 )

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Abstract

The invention discloses a wave variable four-channel bilateral control method based on master-end force buffer. On the basis of the research on the synchronization performance of a bilateral teleoperation control system, a quantitative measurement function of force feedback of the synchronization of the bilateral control system in the condition of fixed time delay is given by the wave variable four-channel bilateral control method. In a wave variable four-channel bilateral control structure, a force buffer unit and a compensation unit are added to a master-end controller, so that the synchronous control over a master end and a slave end is realized, and the influence of a wave transformation method on the advanced effect of the master-end controller is eliminated. On the basis of synchronization indices provided by the wave variable four-channel bilateral control method, the master-slave synchronization analysis performed on the designed control system indicates that the designed control system has good synchronization performance.

Description

【Technical Field】 [0001] The invention belongs to the field of robot control, and in particular relates to a four-channel bilateral control method for wave variables based on main-end force buffering. 【Background technique】 [0002] The operating performance of the teleoperated bilateral control system mainly includes transparency and tracking. Transparency examines the operator's ability to feel the slave end environment, and tracking measures the ability of the slave hand to follow the movement of the master hand. Due to the introduction of communication delay in the bilateral control system, the system's control of the slave end is always lagging behind the master end. If proper control methods are not adopted, the effect of synchronous control of the master and slave ends with no time delay can not be achieved. The relative position error will always exist, which will directly affect the transparency and tracking of the system. Therefore, it is not enough for the operating p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1605
Inventor 高欣赵启飞吴立凯孙汉旭贾庆轩杨堉坤王一帆
Owner BEIJING UNIV OF POSTS & TELECOMM
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