A force and position control method of a robot force sense remote control system
A control method and remote control system technology, applied in the field of robot remote control, can solve problems such as uncertain robot model parameters, achieve good force and position tracking control performance, and suppress the effect of environmental noise
Active Publication Date: 2022-08-09
CHONGQING UNIV OF POSTS & TELECOMM
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[0007] In view of this, the purpose of the present invention is to provide a force and position control method for a comprehensive robot force sense remote control system, which can effectively solve several key problems of the robot force sense remote control system: the acquisition of operator and environmental forces, the adjustment of robot model parameters Determination and elimination of external noise, and compensation of network delay, and obtain good force and position tracking control performance
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[0119] The force and position control method of the robot force sense remote control system proposed by the present invention is applied to a one-degree-of-freedom robot remote-control system, that is, the master-slave robot is a one-degree-of-freedom mechanical arm, wherein the slave robot dynamic parameter θ s =M s =5.0e-3kgm 2 , the coefficient of friction When initializing the IEAOB of the master robot, set the initial values of the robot dynamics parameters and friction coefficient to be their actual values, while when initializing the IEAOB of the slave robot, set the initial values of the robot dynamics parameters and friction coefficient to be their actual values 80% of , i.e. θ s =M s =4.0e-3kgm 2 , Moreover, the Pade expansion used to approximate the network delay in this embodiment is only adopted to the second order, that is, The network delay is selected as a value randomly distributed in the interval [0.05, 0.25]. By selecting various control parame...
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The invention relates to a force and position control method of a robot force sense remote control system, which belongs to the technical field of robot remote control. The method includes: 1) using IEAOB to estimate the dynamic model of the master-slave robot to obtain operator and environmental forces and accurate model parameters; 2) establishing a virtual slave robot system on the master robot side, and using IEAOB to estimate the environmental force 3) network delay is approximated with Pade expansion formula and adopts AOB to estimate network delay value; 4) network delay value is real-time updated in Smith predictor in step 3), and self-adaptive Smith predictor is obtained; 5 ) Design P controller on the master robot side to realize force tracking control, and design PD controller on the slave robot side to realize position tracking control. The invention can simultaneously and effectively solve several key problems of the robot force sense remote control system, and obtains good force and position tracking control performance.
Description
technical field [0001] The invention belongs to the technical field of robot remote control, and relates to a force and position control method of a robot force sense remote control system. Background technique [0002] Robot remote control system refers to a remote operation control system that performs more complex and precise operations by remotely manipulating some machines in environments that are far away or harmful to humans and difficult to approach. Due to this characteristic, the robot remote control system has broad application prospects in many fields. For example, in the fields of emergency rescue, disaster relief, medical treatment, explosion protection, defense, and reconnaissance that humans have been fighting for for thousands of years, in new fields of operation such as deep-sea exploration, deep formation, outer space, and strong radiation, remote control of robots systems play a pivotal role. However, various factors in the real environment limit the ap...
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IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1605Y02P90/02
Inventor 产林平黄庆卿王平
Owner CHONGQING UNIV OF POSTS & TELECOMM