A teleoperation communication method based on adaptive event triggering

Abstract

This invention provides a teleoperation communication method based on adaptive event triggering. It uses a joint displacement difference not exceeding a set threshold as the trigger event. The method saves the joint angular displacement information collected by the robotic arm's position sensor at each sampling moment in real time, and calculates the difference between the position information at each sampling moment and the position information at the trigger moment. Only when the obtained joint displacement difference does not meet the designed trigger event is the joint position information at the current sampling moment released to the communication network for transmission. This completes the filtering and rejection of information to be transmitted. Therefore, this invention only activates the transmission channel when the robotic arm's position information changes to a certain extent, rather than continuously occupying the communication network for information transmission at a fixed time period. This allows for sufficient transmission of video image information while minimizing the consumption of communication network bandwidth, providing the robotic arm operator with a good sense of presence.

Description

Technical Field

[0001] This invention belongs to the field of robot control technology research, and in particular relates to a teleoperation communication method based on adaptive event triggering. Background Technology

[0002] With advancements in technologies such as robotics and long-distance network communication, bilateral teleoperation systems are playing an increasingly important role in remote operations. Over the years, many scholars have proposed various control strategies for nonlinear systems such as teleoperation systems, including adaptive control and sliding mode control.

[0003] However, most control schemes are time-triggered, meaning signals are sampled at fixed time intervals, and the signals transmitted to the system are updated and transmitted at the same intervals. While time-triggered control systems are easy to implement, they waste communication resources. In remote operation, the master and slave ends are often far apart, making communication bandwidth extremely valuable. Operation commands, sensor parameters, and video information all need to be transmitted through the communication network; consuming excess bandwidth can lead to delays or even the loss of important information. Furthermore, long-distance transmission is inevitably affected by communication latency, which significantly impacts system performance, reduces operator immersion, and even affects system stability.

[0004] In practical applications, the triggering frequency provided by the event-triggered mechanism needs to be adjusted according to the actual situation. This necessitates the introduction of adaptive methods to dynamically adjust the triggering threshold parameters. However, existing teleoperation systems are mostly designed based on time-triggered mechanisms, which waste bandwidth resources during long-distance communication, especially for video image transmission, significantly consuming network bandwidth. Existing technologies such as adaptive control and sliding mode control cannot improve the bandwidth consumption and latency issues. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a teleoperation communication method based on adaptive event triggering. This method uses the position change of the robotic arm over a period of time as the triggering condition for the event triggering mechanism, eliminating some invalid information and making the robotic arm position information transmitted within a unit cycle more representative.

[0006] A teleoperation communication method based on adaptive event triggering is disclosed, in which a master robotic arm and a slave robotic arm transmit information through a communication network. During information transmission, the joint angular displacement information of the master and slave robotic arms at each sampling moment is acquired, and the first sampling moment is recorded as the trigger moment. The joint angular displacement information of the master and slave robotic arms at each sampling moment is subtracted from their respective joint angular displacement information at the trigger moment. Information is sent to the slave robotic arm only when the difference in the first joint displacement corresponding to the master robotic arm is greater than a set threshold. Simultaneously, the sampling moment corresponding to the first joint displacement difference exceeding the set threshold is used as a new trigger moment for determining whether the master robotic arm should send information to the slave robotic arm in subsequent transmissions. Similarly, information is sent to the master robotic arm only when the difference in the second joint displacement corresponding to the slave robotic arm is greater than a set threshold. The sampling moment corresponding to the second joint displacement difference exceeding the set threshold is also used as a new trigger moment for determining whether the slave robotic arm should send information to the master robotic arm in subsequent transmissions.

[0007] Furthermore, when determining whether the master robotic arm and the slave robotic arm need to send information to each other, the joint displacement difference between the joint angular displacement information at each sampling time and the joint angular displacement information at the trigger time is first preprocessed, and then the preprocessed joint displacement difference is compared with a set threshold.

[0008] The preprocessing is as follows:

[0009] [q i ((t k +j)h)-q i (t k h)] T Ω[q i ((t k +j)h)-q i (t k h)]

[0010] Where i = m, s, and m represents the master robotic arm, s represents the slave robotic arm, h is the discrete sampling time interval for sensors on the robotic arm to collect joint angular displacement information, and t k The discrete sampling point numbers for the sensors on the robotic arm that collect joint angular displacement information, k is the trigger time number, and t is the trigger time number. k h is the k-th trigger time, (t) k +j)h represents the time from the k-th trigger moment to the (k+1)-th trigger moment t. k+1 Sampling times between h, j = 1, 2, ..., L, where L is the number of sampling times between two trigger times, q i (t k h) represents the joint angular displacement information at the trigger moment, q i ((t k+j)h) represents the joint angular displacement information at the sampling time, Ω is a symmetric positive definite weighting matrix, and T represents the transpose;

[0011] The threshold is set as follows:

[0012] σq i T ((t k +j)h)Ωq i ((t k +j)h)

[0013] Where σ is a set threshold parameter, and 0 < σ < 1.

[0014] Furthermore, the threshold parameter σ is set as follows:

[0015]

[0016] Among them, fusion difference e i (t k h) represents the joint displacement difference, and e i (t k h)=q i ((t k +j)h)-q i (t k h), For the fusion difference range The upper limit of Δ min With Δ max To divide the fusion difference intervals The lower and upper limits of the segment, σ max σ min These are the upper and lower limits of the set threshold parameters, respectively.

[0017] Furthermore, during subsequent transmission, when determining whether the master and slave robotic arms need to send information to each other, the joint displacement difference between the joint angular displacement information at each sampling time and the joint angular displacement information at the trigger time is first preprocessed. Then, the preprocessed joint displacement difference is compared with a set threshold. Finally, the sampling time corresponding to when the preprocessed joint displacement difference is greater than the set threshold is used as the new trigger time for determining whether the slave robotic arm needs to send information to the master robotic arm during subsequent transmission, and the new trigger time t k+1 h can be expressed by the following formula:

[0018]

[0019] Where n represents the value that makes The smallest j value that satisfies this condition, and n is a non-negative integer.

[0020] Furthermore, after the information transmission is completed, the information received by the main robotic arm is denoted as q. s (t k h-ρ f (t)), the information received from the robotic arm is denoted as q. m (t k h-ρ b (t)), where ρ f (t), ρ b (t) represent the forward and reverse delays of the communication channel, respectively, and ρ f (t), ρ b (t) are all time delay functions ρ(t), and the method for setting the time delay function ρ(t) is as follows:

[0021]

[0022] Where t is the current time of receiving information, and h is the discrete sampling time interval for the sensors on the robotic arm to collect joint angular displacement information. k The discrete sampling point numbers for the sensors on the robotic arm that collect joint angular displacement information, k is the trigger time number, and t is the trigger time number. k h is the k-th trigger time, (t) k +j)h represents the sampling times between the k-th trigger time and the (k+1)-th trigger time, where j = 1, 2, ..., L, and L is the number of sampling times between two trigger times. Then P M The j value corresponding to the last sampling time before the next trigger time, φ0:, φ l , These represent different time intervals, where time intervals φ0 and φ1 represent different time intervals. l , The setup method is as follows:

[0023]

[0024] Among them, the maximum delay η k : The communication delay of the communication channel at the k-th trigger moment.

[0025] Furthermore, the information sent from the master robotic arm to the slave robotic arm includes its own position and speed information, while the information sent from the slave robotic arm to the master robotic arm includes its own state information, environmental force feedback, and video image information.

[0026] Beneficial effects:

[0027] 1. This invention provides a teleoperation communication method based on adaptive event triggering. A joint displacement difference not exceeding a set threshold is used as a trigger event. The method saves the joint angular displacement information collected by the robotic arm position sensor at each sampling moment in real time. The position information at each sampling moment is subtracted from the position information at the trigger moment to obtain the joint displacement difference value. Only when the joint displacement difference value does not meet the designed trigger event is the joint position information at the current sampling moment released to the communication network for transmission. This completes the filtering and elimination of information to be transmitted. Therefore, this invention only activates the transmission channel when the robotic arm position information changes to a certain extent, rather than continuously occupying the communication network for information transmission at a fixed time period. This makes the robotic arm position information transmitted within a unit period more representative. Thus, while minimizing the consumption of communication network bandwidth, the transmission of video image information can maintain sufficient transmission volume, which is sufficient for the robotic arm operator to obtain a good sense of presence based on relatively smooth, high-definition video images.

[0028] 2. This invention provides a teleoperation communication method based on adaptive event triggering. By adaptively adjusting the threshold parameter σ of event triggering, the triggering frequency is changed, and the amount of transmitted information is flexibly adjusted. That is, this invention can adjust the value of the threshold parameter σ according to the actual situation of the joint position change rate of the master and slave robotic arms. It can maximize the use of the triggering mechanism to reduce the communication frequency as needed. Specifically, when the position information changes little, the threshold parameter σ is increased to reduce the triggering frequency, and when the position information changes much, the threshold parameter σ is decreased to increase the triggering frequency. This ensures that the position information received by both the master and slave ends is not missed, maintains good tracking performance of the other party, and makes full use of network communication bandwidth.

[0029] 3. This invention provides a teleoperation communication method based on adaptive event triggering. Different time delays are assigned to the received information according to the different time intervals in which the master and slave mechanical parts currently receive the information. The delay function is used to distinguish and confirm the delay of information transmission in different time periods, so as to ensure information synchronization between the receiving end and the sending end. Attached Figure Description

[0030] Figure 1 This is the framework for the bilateral teleoperation system of the present invention;

[0031] Figure 2 This is a flowchart of the event triggering mechanism of the present invention;

[0032] Figure 3 This is a schematic diagram of the robotic arm position information transmission according to the present invention. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0034] This invention aims to filter and eliminate information to be transmitted by designing event triggers, and to flexibly adjust the amount of information transmitted by adaptively adjusting the event trigger threshold to change the trigger frequency. Specifically, for example... Figure 1 As shown, this is a bilateral teleoperation system framework applicable to the adaptive event-triggered teleoperation communication method of the present invention. The operator controls the master robotic arm locally, while the slave robotic arm at a remote location receives the command and begins operation. The master and slave robotic arms transmit information through a communication network. The master robotic arm sends its position and speed information to the slave robotic arm, and the slave robotic arm sends its status information, environmental force feedback, and video image information back to the master robotic arm, giving the operator of the master robotic arm a good sense of presence.

[0035] Meanwhile, the transmission of video image information consumes a significant amount of communication network bandwidth, causing congestion of other information. Furthermore, operators require smooth, high-definition video images to maintain a good sense of presence, necessitating a consistent transmission rate of video image information. Therefore, this invention optimizes the transmission of position information between the master and slave robotic arms in the communication network. It utilizes an event-triggered mechanism, designing information transmission conditions and thresholds. When the data sampled by the sensors meets the transmission conditions, it is considered valid information and transmitted; otherwise, it is considered invalid information and can be ignored.

[0036] Figure 2 The flowchart illustrates the event triggering mechanism of this invention. Specifically, when transmitting information, the master and slave robotic arms acquire the joint angular displacement information of each sampling moment, and record the first sampling moment as the trigger moment. The joint angular displacement information of each robotic arm at each sampling moment is subtracted from the joint angular displacement information at the trigger moment. Information is sent to the slave robotic arm only when the difference in the first joint displacement corresponding to the master robotic arm exceeds a set threshold. Simultaneously, the sampling moment corresponding to the first joint displacement difference exceeding the set threshold is used as a new trigger moment for determining whether the master robotic arm should send information to the slave robotic arm during subsequent transmission. Similarly, information is sent to the master robotic arm only when the difference in the second joint displacement corresponding to the slave robotic arm exceeds the set threshold. The sampling moment corresponding to the second joint displacement difference exceeding the set threshold is also used as a new trigger moment for determining whether the slave robotic arm should send information to the master robotic arm during subsequent transmission.

[0037] It should be noted that, in Figure 1In the teleoperation system block diagram shown, the dashed box encloses the adaptive event triggering improvement method designed by this invention to address the bandwidth limitations of information transmission in communication networks.

[0038] Furthermore, this invention is applicable within a complete teleoperation framework, requiring a complete teleoperation model as a foundation upon which an adaptive event triggering mechanism is built. This invention selects the following teleoperation dynamics model.

[0039] Without considering external disturbances and uncertainties in dynamic parameters, the teleoperation dynamics model is established as follows:

[0040]

[0041] Where i = m, s, m represents the master robotic arm, s represents the slave robotic arm, and q i , M represents the joint angular position, velocity, and acceleration of the master and slave robotic arms. i (q i )∈R n×n C represents the inertia matrix of the master and slave robotic arms. i (q i )∈R n×n G represents the centrifugal force and Coriolis force terms of the master and slave robotic arms. i (q i )∈R n×1 The gravity term of the master and slave robotic arms, τ i ∈R n×1 The control torque input for the master and slave robotic arms, τ h ∈R n×1 τ is the torque applied by the operator to the master end robotic arm. e ∈R n×1 The environmental torque vector is the force applied to the environment by the end-effector robotic arm.

[0042] A suitable master and slave robotic arms are selected and information is transmitted through a communication network to form a teleoperation system. The length, mass, and other information of each arm of the master and slave robotic arms are measured to determine the above parameter matrix. Then, the positional information such as the angular displacement of each joint of the robotic arm is measured by sensors to construct the event triggers in the following text.

[0043] Furthermore, when determining whether the master robotic arm and the slave robotic arm need to send information to each other, the joint displacement difference between the joint angular displacement information at each sampling time and the joint angular displacement information at the trigger time is first preprocessed, and then the preprocessed joint displacement difference is compared with a set threshold.

[0044] The preprocessing involves weighted fusion of the joint displacement differences, as detailed below:

[0045] [qi ((t k +j)h)-q i (t k h)] T Ω[q i ((t k +j)h)-q i (t k h)]

[0046] Where i = m, s, and m represents the master robotic arm, s represents the slave robotic arm, h is the discrete sampling time interval for sensors on the robotic arm to collect joint angular displacement information, and t k The discrete sampling point numbers for the sensors on the robotic arm that collect joint angular displacement information, k is the trigger time number, and t is the trigger time number. k h is the k-th trigger time, (t) k +j)h represents the time from the k-th trigger moment to the (k+1)-th trigger moment t. k+1 Sampling times between h, j = 1, 2, ... L, where L is the number of sampling times between two trigger times, i.e., after sampling begins, data is collected at times h, 2h, 3h... respectively, q i (t k h) represents the joint angular displacement information at the trigger moment, q i ((t k +j)h) represents the joint angular displacement information at the sampling time, Ω is a symmetric positive definite weighting matrix, and T represents the transpose;

[0047] The threshold is set as follows:

[0048] σq i T ((t k +j)h)Ωq i ((t k +j)h)

[0049] Where σ is a set threshold parameter, and 0 < σ < 1.

[0050] Therefore, the event triggering mechanism of this invention can be summarized as follows: The joint angular displacement information collected by the robotic arm position sensor at each sampling moment is stored; the first sampling moment is taken as the trigger moment; and the difference between the position information at each subsequent sampling moment and the position information at the trigger moment is denoted as the position error e. i (t k h), when e i (t k h) If the designed triggering conditions are not met, release the position information at the current sampling time and use that time as the new triggering time. The formulas for the event triggering conditions are summarized below:

[0051] [qi ((t k +j)h)-q i (t k h)] T Ω[q i ((t k +j)h)-q i (t k h)]

[0052] ≤σq i T ((t k +j)h)Ωq i ((t k +j)h)

[0053] This formula indicates that the location information q at the sampling time... i ((t k +j)h) and the location information q at the trigger time i (t k The error e between h) i (t k h)=q i ((t k +j)h)-q i (t k If h) is greater than the set value (determined by σ), the above triggering condition is not met, and the position information q at the sampling time is released. i ((t k +j)h) is added to the communication network; otherwise, q is discarded. i ((t k +j)h).

[0054] Therefore, under this mechanism, the transmission channel is only activated when the position information of the robotic arm changes to a certain extent, rather than continuously occupying the communication network for information transmission at fixed time periods. In other words, under a suitable trigger threshold parameter σ, when the position error between the sampled value of the joint angular displacement information at the current sampling time and the joint angular displacement information at the trigger time meets the trigger condition, the sampled value is considered valid information and network transmission is then performed.

[0055] It should be noted that the new trigger time t is generated after preprocessing based on the joint displacement difference and comparing it with the set threshold. k+1 h can be expressed by the following formula:

[0056]

[0057] Where n represents the value that makes The minimum value of j that satisfies this condition, and n is a non-negative integer. This formula indicates that the next triggering time t... k+1h is determined by the current trigger time t. k h and distance t k h's most recent trigger time (t) k +n min +1)h is determined, and the minimum value of j is n. min .

[0058] Furthermore, the designed event triggering mechanism shows that the larger the threshold parameter σ, the lower the triggering frequency. However, in actual operation, the operator does not move the master robotic arm constantly, resulting in a certain period of idle time for the master robotic arm. In this case, the transmission of large amounts of information between the master and slave ends is not required, and the threshold parameter σ can be increased to reduce the triggering frequency. When the operator moves the master robotic arm slowly, the position information of the master robotic arm changes little, and the position information sampled by the master position sensor repeats within a certain period. In this case, the threshold parameter σ needs to be adjusted to achieve a moderate triggering frequency. When the operator moves the master robotic arm quickly and significantly, the position information sampled by the master position sensor changes rapidly. In this case, the threshold parameter σ needs to be decreased to increase the triggering frequency, ensuring that the position information received by the slave end is not missed and maintaining good tracking performance of the master end. Therefore, the relationship between the threshold parameter σ and the robotic arm position error e can be obtained. i (t k h) The relationship is close, and the adaptive threshold parameter σ is designed as follows:

[0059]

[0060] Among them, fusion difference e i (t k h) represents the joint displacement difference, and has For the fusion difference range The upper limit of Δ min With Δ max To divide the fusion difference intervals The lower and upper limits of the segment, σ max σ min These are the upper and lower limits of the set threshold parameters, respectively.

[0061] The adaptive threshold parameter σ designed in this invention indicates that:

[0062] When Φ(t) k h)<Δ min At that time, e represents the difference in joint displacement of the robotic arm. i (t k If h) is small, that is, the rate of change of the position of the robotic arm is small, a larger threshold parameter σ can be set to reduce the triggering frequency.

[0063] When Δ min ≤Φ(tk h)≤Δ max At that time, e represents the difference in joint displacement of the robotic arm. i (t k h) When the position change rate of the robotic arm is within a suitable range, i.e., the operator operates the robotic arm at an appropriate speed, e can be established. i (t k h) and The inverse proportional relationship function is used to achieve the purpose of adaptively adjusting the threshold parameter σ;

[0064] When Φ(t) k h)>Δ max At that time, it represents the difference in joint displacement of the robotic arm. ei (t k If h) is relatively large, meaning the rate of change of the robotic arm's position is relatively large, a smaller threshold parameter σ can be set to increase the triggering frequency and ensure the real-time transmission of position information.

[0065] Furthermore, after the master and slave robotic arms receive the data, a zero-order hold is needed to convert the discrete data into continuous data, such as... Figure 3 As shown. However, due to communication latency, the information received by the receiver is not synchronized with that of the sender. When processing this data at the receiver, the impact of latency must be considered, that is, the latency of the data at any given moment within a continuous time period must be determined.

[0066] Specifically, after the information transmission is completed, the information received by the main robotic arm is recorded as q. s (t k h-ρ f (t)), the information received from the robotic arm is denoted as q. m (t k h-ρ b (t)), this data is the data obtained by using the adaptive event triggering mechanism designed in this invention to obtain the position information of the master and slave robotic arms. After the robotic arm controller receives the data, it uses other teleoperation system control methods to realize the teleoperation of the master and slave robotic arms, where ρ f (t), ρ b (t) represent the forward and reverse delays of the communication channel, respectively, and ρ f (t), ρ b (t) are all time delay functions ρ(t), and the method for setting the time delay function ρ(t) is as follows:

[0067]

[0068] Where t is the current time of receiving information, and h is the discrete sampling time interval for the sensors on the robotic arm to collect joint angular displacement information. kThe discrete sampling point numbers for the sensors on the robotic arm that collect joint angular displacement information, k is the trigger time number, and t is the trigger time number. k h is the k-th trigger time, (t) k +j)h represents the sampling times between the k-th trigger time and the (k+1)-th trigger time, where j = 1, 2, ..., L, and L is the number of sampling times between two trigger times. Then P M The j value corresponding to the last sampling time before the next trigger time, φ0:, φ l , These represent different time intervals, where time intervals φ0 and φ1 represent different time intervals. l , The setup method is as follows:

[0069]

[0070] Among them, the maximum delay η k : This represents the communication delay of the communication channel at the k-th trigger moment. In other words, when the receiving end receives information at different time intervals, the received information will have different delays.

[0071] In summary, this invention provides a teleoperation communication method based on adaptive event triggering. Addressing the transmission volume of master-slave position information in the communication network, it designs an event triggering mechanism based on changes in the robotic arm's position at both ends to reduce the information transmission frequency. Furthermore, it utilizes a delay function to distinguish and confirm the delay of information transmission in different time periods. Simultaneously, this invention also designs an adaptive threshold parameter, dynamically adjusting it according to the operator's manipulation of the robotic arm, ensuring the triggering frequency is always at a suitable value, thus fully utilizing network communication bandwidth.

[0072] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A teleoperation communication method based on adaptive event triggering, characterized in that, The master robotic arm and the slave robotic arm transmit information via a communication network. During information transmission, the joint angular displacement information of the master and slave robotic arms at each sampling moment is acquired, and the first sampling moment is recorded as the trigger moment. The joint angular displacement information of each master and slave robotic arm at each sampling moment is subtracted from the joint angular displacement information at the trigger moment. Information is sent to the slave robotic arm only when the difference in the first joint displacement corresponding to the master robotic arm is greater than a set threshold. Simultaneously, the sampling moment corresponding to the first joint displacement difference exceeding the set threshold is used as a new trigger moment for determining whether the master robotic arm should send information to the slave robotic arm in subsequent transmission processes. Similarly, information is sent to the master robotic arm only when the difference in the second joint displacement corresponding to the slave robotic arm is greater than a set threshold. The sampling moment corresponding to the second joint displacement difference exceeding the set threshold is also used as a new trigger moment for determining whether the slave robotic arm should send information to the master robotic arm in subsequent transmission processes. When determining whether the master robotic arm and the slave robotic arm need to send information to each other, the joint displacement difference between the joint angular displacement information at each sampling time and the joint angular displacement information at the trigger time is first preprocessed, and then the preprocessed joint displacement difference is compared with a set threshold. The preprocessing is as follows: [q i ((t k +j)h)-q i (t k h)] T Ω[q i ((t k +j)h)-q i (t k h)] Where i = m, s, m represents the master robotic arm, s represents the slave robotic arm, h is the discrete sampling time interval for sensors on the robotic arm to collect joint angular displacement information, and t k The discrete sampling point numbers for the sensors on the robotic arm that collect joint angular displacement information, k is the trigger time number, and t is the trigger time number. k h is the k-th trigger time, (t) k +j)h represents the time from the k-th trigger moment to the (k+1)-th trigger moment t. k The sampling times are between h, j = 0, 1, 2, ..., L, where L is the number of sampling times between two trigger times, and q i (t k h) represents the joint angular displacement information at the trigger moment, q i ((t k +j)h) represents the joint angular displacement information at the sampling time, Ω is a symmetric positive definite weighting matrix, and T represents the transpose; The threshold is set as follows: σq i T ((t k +j)h)Ωq i ((t k +j)h) Where σ is a set threshold parameter, and 0 < σ < 1.

2. The teleoperation communication method based on adaptive event triggering as described in claim 1, characterized in that, The threshold parameter σ is set as follows: Among them, fusion difference e i (t k h) represents the joint displacement difference, and e i (t k h)=q i ((t k +j)h)-q i (t k h), For the fusion difference range The upper limit of Δ min With Δ max To divide the fusion difference intervals The lower and upper limits of the segment, σ max and σ min These are the upper and lower limits of the set threshold parameters, respectively.

3. The teleoperation communication method based on adaptive event triggering as described in claim 2, characterized in that, In subsequent transmission, when determining whether the master and slave robotic arms need to send information to each other, the joint displacement difference between the joint angular displacement information at each sampling time and the joint angular displacement information at the trigger time is first preprocessed. Then, the preprocessed joint displacement difference is compared with a set threshold. Finally, the sampling time corresponding to when the preprocessed joint displacement difference is greater than the set threshold is used as the new trigger time for determining whether the slave robotic arm needs to send information to the master robotic arm in subsequent transmission, and the new trigger time t... k+1 h can be expressed by the following formula: Where n represents the value that makes The smallest j value that satisfies this condition, and n is a non-negative integer.

4. The teleoperation communication method based on adaptive event triggering as described in claim 1, characterized in that, After the information transmission is completed, the information received by the main robotic arm is denoted as q. s (t k h-ρ f (t)), the information received from the robotic arm is denoted as q. m (t k h-ρ b (t)), where ρ f (t), ρ b (t) represent the forward and reverse delays of the communication channel, respectively, and ρ f (t), ρ b (t) are all time delay functions ρ(t), and the method for setting the time delay function ρ(t) is as follows: Where t is the current time of receiving information, and h is the discrete sampling time interval for the sensors on the robotic arm to collect joint angular displacement information. k The discrete sampling point numbers for the sensors on the robotic arm that collect joint angular displacement information, k is the trigger time number, and t is the trigger time number. k h is the k-th trigger time, (t) k +j)h represents the sampling times between the k-th trigger time and the (k+1)-th trigger time, j = 0, 1, 2, ..., L, where L is the number of sampling times between two trigger times. Then P M The j value corresponding to the last sampling time before the next trigger time, φ0, φ l , These represent different time intervals, and the time intervals φ0 and φ... l , The setting method is as follows: Among them, the maximum delay η k The communication delay of the communication channel at the k-th trigger moment.

5. A teleoperation communication method based on adaptive event triggering as described in any one of claims 1 to 4, characterized in that, The information sent from the master robotic arm to the slave robotic arm includes its own position and speed information, while the information sent from the slave robotic arm to the master robotic arm includes its own status information, environmental force feedback, and video image information.

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