A Four-Channel Teleoperation Bilateral Control Method Based on Disturbance Observer

Abstract

The invention discloses a four-channel teleoperation bilateral control method based on a disturbance observer. By establishing the nonlinear system dynamics model of the bilateral teleoperation system, a globally stable nonlinear sliding mode controller design method based on a disturbance observer is proposed to solve the nonlinearity, uncertainty and external disturbance of the teleoperation system and other major issues. Aiming at the nonlinear problem of the bilateral teleoperation system, the present invention designs a four-channel structure suitable for the nonlinear bilateral teleoperation system, through which the position of the master end, the operator's operating torque, the position of the slave end, and the environmental operation torque signal are used in the communication The transmission between channels achieves better system transparency. Aiming at the uncertainty and external interference problems of the bilateral teleoperation system, the present invention designs ideal trajectory generators at the master end and slave end respectively, and a nonlinear sliding mode controller based on a disturbance observer, and guarantees based on Lyapunov theory the global stability of the system.

Description

technical field [0001] The invention belongs to the field of teleoperation control, and specifically relates to a four-channel teleoperation bilateral control method based on a disturbance observer, aiming at improving the transparency of a nonlinear teleoperation system. Background technique [0002] With the development of automation and robot technology, relying on the teleoperation technology of human-computer interaction, that is, the operator can operate the master robot to realize the motion control of the slave robot and realize remote operation. In view of the characteristics of high presence and near-real-time synchronous operation of teleoperation technology, it has broad application prospects in space exploration, underwater operations, nuclear environment monitoring, remote surgery and other fields. [0003] Transparency has been widely studied as an important index of teleoperation system. Among them, the four-channel structure is an effective method to improv...

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Problems solved by technology

[0004] The purpose of the present invention is to propose a four-channel teleoperation bilateral control method based on a disturbance observer to solve technical problems such as transparency, nonlinearity and uncertainty in traditional teleoperation systems

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