Improved-wave-variable-based four-channel teleoperation multi-side control method
A control method, four-channel technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as deteriorating system transparency
Active Publication Date: 2018-08-31
ZHEJIANG UNIV
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[0004] The purpose of the present invention is to propose a four-channel teleoperation multilateral control method with improved wave variables, in order to solve the stability of the traditional four-channel teleoperation system, the introduction of wave variables deteriorates the transparency of the system, and the multi-master-slave robot collaborative operation system, etc. technical problem
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[0064] 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.
[0065] Now in conjunction with embodiment, appended figure 1 And attached figure 2 The present invention is further described:
[0066] The steps of the present invention are:
[0067] 1) Establish a dynamic model of the multilateral teleoperation system
[0068] The dynamic model of the i-th master:
[0069]
[0070] Dynamic model of the i-th slave:
[0071]
[0072] The dynamic mo...
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The invention discloses an improved-wave-variable-based four-channel teleoperation multi-side control method. According to the method, the two-side control method is extended to multi-side control; and weight distribution coefficients of a master end and a slave end are designed to realize the multi-side cooperative working function of the system, so that the working efficiency of the system is improved. Besides, a master-slave-end dynamics model is established, a delay compensation communication channel is added, and an ideal transparency condition of the system is proposed, so that the system stability is ensured, the transparency of the system is improved substantially, and the multi-side immediacy sense of the operator is enhanced. In order to solve a problem of instability under the communication delay of the traditional four-channel control method, the invention puts forward a passive-theory-based improved wave variable method; and with two parameters selected independently basedon different needs, a negative effect on the system transparency by the wave reflection phenomenon in the traditional wave variable is reduced and the position tracking performance and force feedbackfidelity of the system during the multi-side teleoperation process are ensured.
Description
technical field [0001] The invention belongs to the field of teleoperation control, and specifically relates to a four-channel teleoperation multilateral control method with improved wave variables, which improves the transparency of the teleoperation operation system while ensuring the stability of multi-master-slave robots in cooperation with the teleoperation operation system. Background technique [0002] With the continuous development of robot technology, remote operation technology relying on human-computer interaction has played an important role in aerospace, medical, ocean and other fields, and has broad application prospects. In particular, the multilateral teleoperation system that can realize the collaborative operation of multiple master-slave robots has improved the collaborative operation capability of the system, improved the efficiency of the operation, improved the transparency of the system, and enhanced the operator's multilateral presence. However, with...
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Login to View More IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈正黄方昊宋伟王滔朱世强
Owner ZHEJIANG UNIV