All-state control method for flexible master-slave robot system under time-varying delay
A robot system, main robot technology, applied in the direction of comprehensive factory control, program control, general control system, etc., can solve problems such as affecting control accuracy and system stability
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[0099] The present invention will be further described below in conjunction with accompanying drawing:
[0100] Such as figure 1 Shown, the step of the inventive method is as follows:
[0101] Step 1. Select the main robot and the slave robot and connect them through the network to form a teleoperation system, then measure the system parameters of the master robot and the slave robot, and use the force sensor to measure the force exerted by the operator and the force exerted by the external environment;
[0102] The system parameters of the master and slave robots include: the length information and mass information of the manipulator, and the positive definite inertia matrix M of the master robot and the slave robot respectively calculated according to the length and mass information of the manipulator m (q m ), M s (q s ), Coriolis force and centrifugal force vector Gravity matrix G m (q m ),G s (q s ), the constant diagonal matrix J of the moment of inertia of the...
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