Stability control method for multi-delay teleoperation system based on force and position prediction

A stability control and operating system technology, applied in the field of robotics, can solve problems such as the inability to ensure the force tracking performance of the remote operating system, affect the operating performance of the remote operating system, and the time delay of the environmental interaction force, etc., to enhance the sense of on-site experience , Improve location tracking accuracy, improve the effect of tracking accuracy

Active Publication Date: 2020-12-01
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0006] (1) There is a position error between the master and slave robots, which leads to the motion hysteresis of the master and slave robots in the teleoperation system, which affects the operational performance of the teleoperation system
[0007] (2) There is a delay in the environmental interaction force transmitted from the robot to the main robot, and the force tracking performance of the teleoperation system cannot be guaranteed

Method used

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  • Stability control method for multi-delay teleoperation system based on force and position prediction
  • Stability control method for multi-delay teleoperation system based on force and position prediction
  • Stability control method for multi-delay teleoperation system based on force and position prediction

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Embodiment

[0049] figure 1 It is a schematic diagram of a multi-delay teleoperation system stability control method based on force and position prediction.

[0050] In this example, if figure 1 As shown, the multi-delay teleoperation system includes an operator module, a master robot, a master robot controller, a predictive control module, a communication channel, a slave robot, a slave robot controller, and an environment module. In this embodiment, the contact force model when the slave robot interacts with the environment is established on the master robot side.

[0051] Combine below figure 1 , a method for controlling the stability of a multi-delay remote operating system based on force and position prediction in the present invention is described in detail, which specifically includes the following steps:

[0052] S1. Estimate the environmental stiffness parameter K of the environment in contact with the robot c and the ambient damping parameter B c

[0053] S1.1. According to ...

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Abstract

The invention discloses a multi-time-delay teleoperation system stability control method based on force and position prediction. By estimating the environmental stiffness parameters and environmental damping parameters of the environment in contact with the slave robot, the contact force between the slave robot and the environment is predicted. , and then use the extended Kalman filter algorithm to predict the position of the slave robot, according to the predicted contact force and position, design the drive control law of the multi-delay teleoperating system for the master robot and the slave robot, and finally use the drive control law of the master robot and the slave robot The main robot and the slave robot are controlled separately, so as to realize the stability control of the multi-delay teleoperation system.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically, relates to a stability control method of a multi-delay remote operating system based on force and position prediction Background technique [0002] Teleoperation system is widely used in various remote or difficult-to-reach environments, such as space experiments, seabed exploration, nuclear waste disposal, remote rehabilitation training and other fields. In the medical industry, the ability of special technicians can be expanded, and remote control can be used to complete complex treatment work, such as transnational surgery. In so many application fields, due to the long distance of signal transmission, there is a large communication delay in the signal transmission of the master-slave robot. W.R. Ferrell pointed out as early as 1996 that the communication delay will reduce the tracking accuracy of the position and force of the slave robot, affect the stability of the bil...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李坚黄琦陶学伟胡维昊蔡东升张真源李晨宫彦王妮邓带雨
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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