Self-adaptive double-layer sliding mode-based teleoperation system fast force estimation method

An operating system and self-adaptive technology, applied in the direction of self-adaptive control, general control system, control/regulation system, etc., can solve the problems of increasing equipment cost, easy measurement of position signal, difficult measurement of speed and external force signal, etc. To achieve a stable effect

Active Publication Date: 2017-10-17
YANSHAN UNIV
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Problems solved by technology

However, the state observer based on the traditional sliding mode will set a large sliding mode parameter due to unknown external interference, and the accuracy of its observed signal will be greatly affected
Moreover, most of the existing observer design schemes rely on the speed signal of the teleoperated robot, which assumes that the system speed is known, which increases the cost of the equipment.
In practice, usually the position signal is easy to measure, but the speed and external force signals are not easy to measure

Method used

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  • Self-adaptive double-layer sliding mode-based teleoperation system fast force estimation method
  • Self-adaptive double-layer sliding mode-based teleoperation system fast force estimation method
  • Self-adaptive double-layer sliding mode-based teleoperation system fast force estimation method

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Embodiment Construction

[0080] The present invention will be further described below in conjunction with accompanying drawing:

[0081] Such as figure 1 As shown, the teleoperation system is mainly composed of the operator, the master robot, the network transmission channel, the slave robot and the external environment. The operator operates the master robot locally, and its related motion information is transmitted to the slave robot through the network. The slave robot moves synchronously according to the motion information of the master robot, and feeds back the information obtained from the contact with the environment to the master robot. Use the observer to observe the master and slave robots, and obtain the external force information exerted by the operator and the external environment on the master and slave robots respectively.

[0082] Such as figure 2 Shown, the inventive method comprises the following steps:

[0083] S1. Select a teleoperated robot system consisting of two 3-DOF robot...

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Abstract

The invention discloses a self-adaptive double-layer sliding mode-based teleoperation system fast force estimation method. One or two three-degree-of-freedom robots are adopted to form a teleoperation robot system. In the load-free condition, the quality and length information of the connecting rod of a robot is measured. According to an energy balance equation, a second-order Lagrange system model is established in the task space of the teleoperation system. By utilizing the position encoder of the robot itself, the position signal of the robot is measured. According to the position information of the robot, a self-adaptive double-layer super-spiral sliding mode full-dimensional observer is designed. Meanwhile, the evaluation method of the estimated force is obtained through the observed information. According to the sizes of different external forces in different working environments and the changing conditions of the external forces, a large enough observer parameter is selected so as to ensure the stability of the observer system. The method is low in cost and insensitive to interference. The robustness of a closed-loop system is enhanced.

Description

technical field [0001] The invention relates to the technical field of external force observation of a teleoperated robot, in particular to a fast force estimation method for a teleoperated robot based on an adaptive double-layer sliding mode. Background technique [0002] The teleoperation system is operated by an operator to operate a local robot to control the remote robot through the network to complete the assigned tasks. Teleoperation technology has been widely used in space technology, deep sea exploration, telemedicine and extreme environments. In the application of the teleoperation system, if the remote robot can feed back the tactile information of the external environment to the host robot, the operator's sense of presence will be greatly improved. Presence technology is the core of human-computer interaction teleoperation. The teleoperated robot system with telepresence is a development of master-slave telerobotics, focusing on the reproduction of the remote e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 华长春赵云鹏杨亚娜
Owner YANSHAN UNIV
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