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Control method for asymmetric structure lower flexible teleoperation system

An asymmetric structure, operating system technology, applied in the field of nonlinear flexible teleoperating system control, to achieve the effect of simple design, improved flexibility and practicability, and flexible application

Active Publication Date: 2018-09-28
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the implementation of existing control methods is based on the assumption that the master-slave robot is a rigid robot, and in reality, the robot has more or less flexible characteristics.

Method used

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  • Control method for asymmetric structure lower flexible teleoperation system
  • Control method for asymmetric structure lower flexible teleoperation system
  • Control method for asymmetric structure lower flexible teleoperation system

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Embodiment Construction

[0052]Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0053] A control method for a flexible remote control system in an asymmetric structure according to this embodiment includes the following steps:

[0054] S1. Establish a flexible teleoperation system model under an n-dimensional asymmetric structure;

[0055] Considering that the slave robot in the teleoperation system often works in complex and harsh environments such as nuclear accident sites, seabeds, and deep space, these complex and harsh environments can easily have a huge impact on the controller of the slave robot. For example, the radiation at the site of a nuclear accident will seriously affect the control performance of the slave robot. Therefore, compared with the general symmetrica...

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Abstract

The invention discloses a control method for an asymmetric structure lower flexible teleoperation system. The control method comprises the steps that an n-dimension asymmetric structure lower flexibleteleoperation system model is set up; the position synchronous error variable of a master robot and a slave robot is defined under network communication time-varying delaying, and a new master and slave robot control method with input time delaying is designed based on the definition; and based on a linear matrix inequality, stable time-lag relevant stability conditions of the teleoperation system are given, and the stability and synchronism of the teleoperation system are guaranteed when outside input force is zero. According to the control method, stable operation under the performance asymmetric structure and time-varying asymmetric time-varying delaying of the flexible teleoperation system is guaranteed, and therefore the flexibility and practicality of the system are improved. The control method is simple, only the position and speed information of a motor is utilized, and therefore the practicality of the control method is improved.

Description

technical field [0001] The invention relates to the technical field of nonlinear flexible remote control system control, in particular to a control method for a flexible remote control system under an asymmetric structure. Background technique [0002] As a remote operating system that can maximize the respective advantages of human beings and mechanical systems, networked teleoperation system has broad application prospects and great application value in contemporary times. A typical networked teleoperation system is mainly composed of five parts, which are the operator, the master robot, the network information transmission channel, the slave robot, and the external environment where the slave robot is located. Its working mode can be roughly described as: the operator operates the local master robot, and transmits information such as the position and speed of the master robot to the slave robot through the network and other transmission media, and the slave robot follows ...

Claims

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Application Information

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IPC IPC(8): B25J3/00
CPCB25J3/00
Inventor 杨亚娜李军朋华长春
Owner YANSHAN UNIV
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