Full-state control method for flexible master-slave robot system with time-varying delay

A robot system, the main robot technology, applied in the direction of comprehensive factory control, program control, general control system, etc., can solve the problems that affect the stability of the control accuracy system

Active Publication Date: 2021-04-09
YANSHAN UNIV
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  • Application Information

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Problems solved by technology

However, there will be vibration patterns in flexible joints, which may affect the control accuracy and system stability.

Method used

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  • Full-state control method for flexible master-slave robot system with time-varying delay
  • Full-state control method for flexible master-slave robot system with time-varying delay
  • Full-state control method for flexible master-slave robot system with time-varying delay

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Embodiment Construction

[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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Abstract

The invention discloses a full-state control method for a flexible master-slave robot system under time-varying time delay. Proportional damping controller with speed and speed and full state feedback controller based on backstepping recursion technology; design high-dimensional uniform accurate difference device to realize accurate difference for virtual controller; construct Lyapunov equation and establish system time delay The relevant stability criterion is given to select the controller parameters to achieve the global stability of the flexible master-slave robot system under time-varying time delay. For the flexible master-slave robot system, the full state feedback controller based on the backstepping recursion technology and the high-dimensional consistent and accurate differentiator is used to realize the precise tracking of the position of the control system in the global range and ensure the global asymptotic convergence of the system , which improves the robustness of the system.

Description

technical field [0001] The invention relates to the field of control of a flexible master-slave robot system, in particular to an all-state control method for a flexible master-slave robot system under time-varying time delay. Background technique [0002] The flexible master-slave robot system is a research on the flexibility of the joints of the manipulator in the robot system. It is a very complex dynamic system with high nonlinearity, strong coupling and time-varying delay. Compared with rigid joints, flexible joints have the advantages of small size, high flexibility, high load-to-weight ratio, low energy consumption, and wider working space when completing some complex and difficult tasks. Usually, the teleoperation system is a kind of flexible master-slave robot system, and the teleoperation system is a kind of long-distance operation system that completes relatively complex operations. It is mainly composed of the operator, the main robot system, the network informa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J3/00B25J9/16
CPCB25J3/00B25J9/16B25J9/1689G05B2219/39195G05B2219/39219B25J9/0084
Inventor 杨亚娜甘露陈奕行李军鹏华长春
Owner YANSHAN UNIV
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