A four-channel teleoperated force feedback control method with limited hysteresis nonlinearity

Abstract

The invention discloses a four-channel teleoperation force feedback control method under the limitation of hysteresis nonlinearity, relates to the technical field of robot teleoperation system control, and comprises the following steps: establishing the dynamics of the teleoperation system under the limitation of hysteresis nonlinearity model; select the main robot and the slave robot and connect them through the network to form a teleoperation system, measure the system parameters respectively; measure the position information of the manipulator arm of the master robot and the slave robot in real time, and estimate the approximate force of the applied force; the observed value of the force estimation Feedback to controller design; design four-channel wave variable communication channel under time-varying delay; design four-channel bilateral controller through time-domain passive control and adaptive control methods. The invention guarantees the passivity of the communication channel under the condition of time-varying delay and realizes high tracking performance, solves the problems of limited estimation ability and slow estimation speed of existing force observers, eliminates the demand for force sensors at the same time, and reduces the system cost. hardware cost.

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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