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A Fuzzy Logic-Based Adaptive Multilateral Control Method for Teleoperation System

A fuzzy logic and operating system technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the nonlinear problems of master-slave robots, improve the performance of collaborative work, realize the distribution of work force, and solve the problem of uncertainty. Effect

Active Publication Date: 2020-10-16
ZHEJIANG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to propose a fuzzy logic-based teleoperation system adaptive multilateral control method to solve the stability and transparency trade-offs in the traditional multilateral teleoperation system, the nonlinearity and various uncertainties of the master-slave robot, And technical issues such as multi-robot collaborative operations

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  • A Fuzzy Logic-Based Adaptive Multilateral Control Method for Teleoperation System

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[0018] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0019] Now in conjunction with embodiment, appended figure 1 The present invention is further described:

[0020] Implementation technical scheme of the present invention is:

[0021] 1) Establish the nonlinear dynamic model of the multilateral teleoperation system, specifically:

[0022] 1-1) Establish the nonlinear dynamic model of master robot, slave robot and working environment

[0023]...

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Abstract

The invention discloses a self-adaptive multilateral control method based on fuzzy logic for a nonlinear remote operating system. According to the method, non-power parameters of nonlinear environmental dynamics are estimated based on a fuzzy logic function, and the non-power parameters are transmitted back to a main terminal through a communication channel with time delay for reconstitution of main-terminal environmental forces. For various uncertain problems existing on a master robot and slave robots, the method is based on a fuzzy logic system, and the parameters of the nonlinear functioncontaining unknown system model information is online updated by designing the self-adaptive rate; for the position tracking property of the system, according to the nonlinear self-adaptive multilateral control method based on the fuzzy logic system, when communication delay exists in the system, a track signal of the master robot is accurately tracked through the slave robots; and for the operation force distribution problem during collaborative operation of multiple robots, a collaborative control algorithm of multiple robots is designed, and then operation force distribution of multiple slave robots is achieved.

Description

technical field [0001] The invention belongs to the field of teleoperation control, and specifically relates to a fuzzy-logic-based self-adaptive multilateral control method for a teleoperation system, while ensuring the stability and transparency of a non-linear multilateral teleoperation system and the collaborative operation performance of multi-slave robots. Background technique [0002] With the continuous development of electromechanical technology, the research of robot system has become a hot topic at this stage. Among them, the teleoperation robot technology relying on human-computer interaction has made staged progress, and has a wide range of applications in military, industrial and medical fields. Applications. [0003] However, with the development of complex and fine-grained tasks, it is necessary to have multiple robots with multiple degrees of freedom in the working environment for collaborative work. Such robots often have nonlinearities and various uncertai...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1615
Inventor 陈正黄方昊宋伟朱世强
Owner ZHEJIANG UNIV
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