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Method for remote operation bilateral control by changing wave variables

A control method and wave variable technology, which is applied in the field of bilateral control of time-delayed bilateral teleoperation systems, can solve problems such as deterioration, wave reflection transparency, etc., and achieve the effects of reducing impact, ensuring fidelity, and simplifying wave variable structure

Active Publication Date: 2018-05-04
ZHEJIANG UNIV
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Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention proposes a remote operation bilateral control method to solve technical problems such as wave reflection and transparency deterioration caused by the introduction of wave variables

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  • Method for remote operation bilateral control by changing wave variables
  • Method for remote operation bilateral control by changing wave variables
  • Method for remote operation bilateral control by changing wave variables

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Embodiment Construction

[0041] The following combination figure 1 The present invention is further described.

[0042] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0043] Now in conjunction with embodiment, appended figure 1 and figure 2 The present invention is further described:

[0044] Implementation technical scheme of the present invention is:

[0045] 1) Establish the dynamic model of the bilateral teleoperation system

[0046] The dynamic model of the mai...

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Abstract

The invention discloses a method for remote operation bilateral control by changing wave variables. Based on a traditional wave variable bilateral control method, a communication channel structure isimproved by establishing a master-slave dynamic model, and the transparency of a system is greatly improved while the system stability is ensured. Against the wave reflection phenomenon existing in the conventional wave variable bilateral control method, two parameters that can be independently selected according to different requirements are provided, the structure is simplified, the influence ofthe wave reflection on the transparency of a system is alleviated, and the position tracking performance and force feedback fidelity in the remote operation process are ensured. According to the method for remote operation bilateral control by changing the wave variables, the stability of a teleoperation system under the condition of delay can be ensured well, and the position tracking performance and the fidelity of force feedback at the slave end are improved. The method for remote operation bilateral control is easy to implement and apply and can mainly be used for bilateral control of theteleoperation system, and system stability and transparency are ensured.

Description

technical field [0001] The invention belongs to the field of teleoperation control, and specifically relates to a time-delay bilateral teleoperation control method, which improves the transparency of the teleoperation system while ensuring the stability of the teleoperation operation system. Background technique [0002] The development and application of robots is a major breakthrough in helping humans avoid simple repetitive or heavy labor. In recent years, with the rapid advancement of automatic control technology, the application of robots has become more common. However, for some complex operating environments, robots alone cannot complete it independently. Therefore, the teleoperation technology relying on human-computer interaction came into being and played an important role in space exploration, ocean development, medical surgery and other fields. However, as the complexity of the task increases and the distance between the master and slave ends increases, the con...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈正黄方昊卢形宋伟
Owner ZHEJIANG UNIV
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