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Four-way teleoperation bilateral control method based on time delay compensation

A delay compensation and control method technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of deteriorating system transparency, stability of four-channel remote control system, and wave variable introduction, so as to improve transparency performance, Ensure stable performance and reduce the effect of wave reflection

Active Publication Date: 2018-07-31
ZHEJIANG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to propose a four-channel teleoperation bilateral control method based on delay compensation to solve technical problems such as the stability of the traditional four-channel teleoperation system and the introduction of wave variables to deteriorate system transparency.

Method used

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  • Four-way teleoperation bilateral control method based on time delay compensation
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  • Four-way teleoperation bilateral control method based on time delay compensation

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Embodiment Construction

[0051] 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.

[0052] Now in conjunction with embodiment, appended figure 1 And attached figure 2 The present invention is further described:

[0053] Implementation technical scheme of the present invention is:

[0054] 1) Establish the dynamic model of the bilateral teleoperation system

[0055] The dynamic model of the main end:

[0056] Z cm V m +(C 4 V s +C 2 f e )e -Ts +b(C 3 f h +C 1 V ...

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Abstract

The invention discloses a four-way teleoperation bilateral control method based on time delay compensation. Based on a traditional four-way bilateral control method, by establishing a master-slave endkinetic model and additionally adopting a time delay compensation communication channel, the system stability is ensured, and the system transparency is improved substantially. To solve the problem that a traditional four-way bilateral control method has a destabilization phenomenon on the correspondence time delay condition, a correction wave variable method based on the passive theory is provided, so that the influence on the system transparency by wave reflection of a traditional wave variable is reduced, and the realistic degrees of position tracking performance and force feedback in theteleoperation process are ensured. The stability of a teleoperation system on the time delay condition can be ensured very well, and at the same time, the realistic degrees of the position tracking performance and the force feedback of the slave end are improved. The four-way teleoperation bilateral control method is easy to implement, and can be mainly used for bilateral control on the teleoperation system, and the stability and transparency of the teleoperation system are ensured.

Description

technical field [0001] The invention belongs to the field of remote operation control, and specifically relates to a four-channel bilateral control method of a time-delay teleoperation system, which improves the transparency of the teleoperation system while ensuring the stability of the teleoperation system. Background technique [0002] With the continuous development of robot technology, teleoperation technology relying on human-computer interaction has played an important role in aerospace, deep sea operations, medical surgery and other fields, and has broad application prospects. In particular, the bilateral teleoperation system with force feedback improves the transparency of the system and enhances the operator's sense of presence. However, as the distance between the master and the slave increases, the system will generate a large communication delay during signal transmission, which deteriorates the stability of the system. [0003] In the past, bilateral control g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1689
Inventor 陈正黄方昊包鲁丞宋伟王滔
Owner ZHEJIANG UNIV
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