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Mode-switching-based symmetrical prediction control method of bilateral teleoperation of robot

A predictive control, robotics technology, applied in adaptive control, general control system, control/regulation system, etc., can solve modeling uncertainty, gravity term uncertainty and other problems

Active Publication Date: 2018-11-13
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

In addition, since the robot system is a typical nonlinear system, there are many uncertainties in the modeling
Moreover, for the bilateral teleoperation system of the robot, due to the unknown remote environment, it still has problems such as the uncertainty of the gravity term.

Method used

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  • Mode-switching-based symmetrical prediction control method of bilateral teleoperation of robot

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Embodiment Construction

[0056] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0057] figure 1 A frame diagram of a robot bilateral teleoperation system based on a symmetric predictive control method based on mode switching to achieve stable, real-time, continuous, and precise control is given. The corresponding implementation steps are as follows:

[0058] Step 1: Give the dynamic models of the master and slave robots, and estimate the uncertainty;

[0059] Step 2: Build master and slave predictors to realize symmetric predictive control;

[0060] Step 3: Design the master and slave controllers respectively corresponding to the "motion-waiting mode" and "predictor mode", and formulate a mechanism based on mode switching. Finally, the above work is combined to form a symmetric predictive control method based on mode switching.

[0061] step 1:

[0062] The main work of this step is to give the master and slave dynamic models in the bila...

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Abstract

The invention relates to a mode-switching-based symmetrical prediction control method of bilateral teleoperation of a robot. A symmetrical prediction control strategy based on mode switching is put forward based on a neural network technology with the estimation capability of the neural network for estimating the uncertain gravity term and the prediction capability for constructing the predictor kernel, an adaptation theory for eliminating various estimation and prediction errors, a homomorphic model prediction idea being an additional condition needing to be met for prediction outputting andbeing used for improving the prediction accuracy, and a proportional differential control algorithm for designing master and slave controllers. Therefore, stable, real-time, continuous, precise, and synchronous control of master and slave robots is realized and the expected teleoperation task is completed.

Description

technical field [0001] The invention belongs to the technical field of robot control, and relates to a symmetric predictive control method for bilateral remote operation of a robot based on mode switching. Background technique [0002] The bilateral teleoperation system based on teleoperation technology and the core of the robot can realize the operation of the remote target at the local end, which greatly extends and expands the human operation ability, and can replace the parts including the remote control system and maintenance, remote target acquisition and capture, replacement of nuclear materials, telemedicine and many other tasks that humans cannot or are not convenient to participate in person. Performing remote control and operation tasks based on the robot teleoperation system can avoid direct execution of dangerous operation tasks and improve work efficiency and precision. These characteristics also make it a very promising control system in the field of robotics,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/027G05B13/042
Inventor 黄攀峰陈海飞刘正雄董刚奇孟中杰张夷斋张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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