位置受限下基于改进波变量的主从异构双边遥操作控制方法、存储介质及机器人
By improving the wave variable algorithm and the adaptive neural network controller, the stability and accuracy problems caused by time-varying delay and heterogeneous characteristics in the teleoperation system were solved, and safe and stable teleoperation in high-risk areas was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SOUTH CHINA UNIV OF TECH
- Filing Date
- 2025-03-27
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies in high-risk remote operating systems suffer from problems such as insufficient adaptability to time-varying communication delays, low operational accuracy due to the heterogeneous characteristics of master-slave robots, risks of mechanical interference, and reduced system transparency. In particular, in scenarios such as nuclear fuel handling and minimally invasive surgery, millimeter-level positioning deviations may lead to catastrophic consequences.
An improved wave variable algorithm is adopted, combined with position-position mapping in the task space and an adaptive neural network controller, to unify the dynamic models of the master-slave robot, human operator and environment. Through state transition and Lyapunov stability theory, accurate identification and stable control of unknown nonlinear dynamics are achieved.
It improves the stability and transparency of the teleoperation system under time-varying and time-delay conditions, ensures the safety and accuracy of heterogeneous bilateral teleoperation, reduces the risk of mechanical interference, and improves operational precision.
Smart Images
Figure CN120287288B_ABST