Four-channel teleoperation force feedback control method under hysteresis non-linearity limitation

Abstract

The invention discloses a four-channel teleoperation force feedback control method under hysteresis non-linearity limitation, and relates to the technical field of robot teleoperation system control.The four-channel teleoperation force feedback control method comprises the steps that a teleoperation system dynamic model under hysteresis non-linearity limitation is established; a master robot anda slave robot are selected and connected through a network to form a teleoperation system, and system parameters are measured separately; the mechanical arm position information of the master robot and the slave robot are measured in real time, and approximate force estimation is carried out on the applied force; an observed value of the force estimation is fed back into controller design; a four-channel wave variable communication channel under the time-varying delay is designed; and a four-channel bilateral controller is designed through the time domain passive control and an adaptive control method. According to the method, the passive property of the communication channel under the time-varying delay situation is guaranteed, very high tracking performance is achieved, the problem thatthe estimated capacity is limited and the estimation speed is slow of an existing force observer is solved, the demand on a force sensor is eliminated, and the hardware cost of the system is reduced.

Description

technical field [0001] The invention relates to the technical field of robot teleoperation control technology, in particular to a four-channel teleoperation force feedback control method under hysteresis nonlinear limitation. Background technique [0002] As a remote operating system, the teleoperating system can maximize the respective advantages of human advanced intelligence and machine intelligence, and has been widely used in various fields such as nuclear accident rescue, space exploration, submarine operations, and telemedicine. The teleoperation system mainly has two performance indicators: stability and transparency. That is to say, it is required that the slave robot can accurately follow the movement trajectory of the master robot regardless of the force applied by the operator or the force excitation of the external environment. At the same time, the operator can fully feel the force of the external environment on the slave robot, so that the operator has The fe...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved in the present invention is to provide a four-channel remote operation force feedback control method under the limitation of hysteresis nonlinearity, which overcomes the problems of inaccurate position tracking caused by position drift and large signal changes caused by wave reflection, and ensures time-varying time. The passivity of the communication channel in the long-term situation achieves a high tracking performance

Solve the problem of limited estimation ability and slow estimation speed of existing force observers, while eliminating the need for force sensors and reducing system hardware costs

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