Teleoperation robot prediction display method based on time delay prediction

Abstract

The invention relates to a teleoperation robot prediction display method based on time delay prediction, which is characterized in that the stretching and compression effects of time-varying time delay on master and slave control signals in a time dimension are regarded as system disturbance, and feedforward compensation is carried out on the disturbance by utilizing a time delay online prediction result. The method comprises the following steps: carrying out dynamic modeling on a teleoperation system based on predictive display, calculating an expected control quantity of a predictive display robot containing time delay disturbance, then taking a space teleoperation system with the most complex time delay composition as an example, analyzing a generation mechanism of communication time delay of the teleoperation system, and calculating the expected control quantity of the predictive display robot. And on-line prediction is carried out on the communication time delay according to the generation mechanism, the model and the statistical law.

Description

technical field [0001] The present application relates to the field of robotics, in particular to teleoperated robots, and more particularly, to a control system for a robot and a method for simulating the motion of a robot in the control system. Background technique [0002] As a human-machine collaboration system, the master-slave teleoperation system can not only give full play to the advantages of robots in completing remote tasks, but also perform complex tasks and handle unexpected events in combination with human intelligence. The perception of the environment is very important, but the communication delay makes it impossible for the operator to obtain the feedback information of the remote job site in real time, which not only reduces the operation efficiency and operation quality, but also threatens the operation safety. The prediction display technology can improve the stability of the system at the same time sex and transparency. In non-contact tasks, vision cont...

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Problems solved by technology

[0002] As a human-machine cooperation system, the master-slave teleoperation system can not only give full play to the advantages of robots in completing remote tasks, but also combine human intelligence to perform complex tasks and handle unexpected events. In the master-slave teleoperation task, the operator The perception of the environment is very important, but the communication delay makes it impossible for the operator to obtain real-time feedback information from the remote job site, which not only reduces the operating efficiency and quality, but also threatens the safety of the operation. Predictive display technology can improve the stability of the system at the same time sex and transparency

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