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Improved wave variable method in bilateral remote operating system

An operating system and wave variable technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as large position/force tracking errors, sacrifice system operating performance, etc., to reduce force and position tracking errors, The effect of overcoming instability and improving operability

Inactive Publication Date: 2019-06-18
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

That is to say, although the traditional wave variable method overcomes the instability brought by the time delay to the bilateral teleoperation system, it has a large position / force tracking error at the expense of the operating performance of the system.

Method used

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  • Improved wave variable method in bilateral remote operating system
  • Improved wave variable method in bilateral remote operating system

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Embodiment Construction

[0050] The present invention will be further described below with reference to the accompanying drawings and in combination with preferred embodiments.

[0051] Such as figure 2 As shown in , a typical bilateral teleoperation system consists of five parts: operator, master end, communication link, slave end and environment, among which represents the operator speed, Indicates the master speed, Indicates the transfer speed from the master end to the slave end, Indicates the slave speed, f m Indicates the master end force, f md Indicates the force fed back from the end to the master end, f s Indicates the force from the end, f e Indicates the environmental force.

[0052]The preferred embodiment of the present invention is an improvement on the basis of the traditional wave variable method, which is a bilateral control method based on passivity theory. Among them, the theory of passivity has the following properties: the passive system is stable, the passive system ...

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Abstract

The invention discloses an improved wave variable method in a bilateral remote operating system. The bilateral remote operating system comprises an operator, a main end, a communication link, a slaveend and an environment. In the communication link, an improved wave variable transformation is performed, an adjustable additional wave impedance coefficient is added during a transformation process,and a relationship among the improved wave variable, a position variable and a force variable is obtained. Through the improved wave variable method, under the condition of ensuring the stability of the bilateral remote operating system, operational performance of the system is improved, and a force / position tracking error is reduced.

Description

technical field [0001] The invention relates to the field of remote operation control, in particular to an improved wave variable method in a bilateral remote control operation system. Background technique [0002] With the deepening of human exploration of space activities, space operations tasks have become more complex and diverse, such as on-orbit maintenance of aircraft, space assembly, fuel refueling, and planetary surface detection; completely rely on astronauts to complete these space operations tasks , Not only the cost is high but also the safety cannot be guaranteed, and space robots are more and more favored by space agencies of various countries due to their advantages such as low risk, low cost, and strong environmental adaptability. [0003] The control methods of space robots are mainly divided into two categories: autonomous control and teleoperation control. In the autonomous control mode, the robot independently makes decisions, plans and controls based o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 王学谦徐晨耀朱晓俊梁斌孟得山陈章
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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