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Teleoperation robot adaptive control method based on master-slave reference model

A teleoperated robot and adaptive control technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as reduction, operator error judgment, unstable operation performance of remote operating system, etc.

Inactive Publication Date: 2012-04-18
NANTONG ZHONGGANG COATING EQUIP +1
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AI Technical Summary

Problems solved by technology

Due to the communication delay between the operator's location and the working position, the instability of the remote operating system and the reduction of operating performance are caused, and the delay will seriously damage the transparency of the system, causing the operator to make wrong judgments

Method used

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  • Teleoperation robot adaptive control method based on master-slave reference model
  • Teleoperation robot adaptive control method based on master-slave reference model
  • Teleoperation robot adaptive control method based on master-slave reference model

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Embodiment Construction

[0037] The self-adaptive control method for a teleoperated robot based on the master-slave reference model includes: a master-side loop 1, a slave-side loop 2 and a communication delay link 3, and the master-side loop 1 consists of an operator 11, a master robot 12 and a master-side environment model. 13, the slave side loop 2 is composed of the environment 21, the slave robot 22, the slave side environment model 23, the model parameter correction module 24 and the simulation delay module 25, the master side environment model 13 and the slave side environment model 23 have the same structure,

[0038] In a structured environment, it is known that the communication delay link 3 has a delay, and T is the delay amount of the communication delay link 3, and T=1s in the simulation. In a structured environment, you have a certain understanding of the environment to be faced, so you can establish a more accurate environment model, but it is impossible to be completely consistent. The...

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Abstract

The invention relates to a teleoperation robot adaptive control method based on a master-slave reference model. The system of the invention is composed of a master side circuit, a slave side circuit and a communication delay link, wherein the master side circuit is composed of an operator, a main robot and a master side environmental model; the slave side circuit is composed of an environment, a slave robot, a slave side environment model, a model parameter correcting module and a delay-simulating module; the side environment model provides reference force signals, the reference force signalsand the force signals fed back by the environment are input the model parameter correcting module for comparison; by utilizing the error, an adjustable gain pc(t) is output from the model parameter correcting module, passes through the communication delay link and adjusts the master side master side environmental model; the master side environmental model provides feedback force signals for the operator; and the adjustable gain pc(t) passes through the delay-simulating module, adjusts the slave side environmental model and performs continuous circulation; and the master side environmental model and the slave side environmental model continuously approximate the real environmental model and form the teleoperation which can overcome the influence of delay and ensure the system to obtain thestable control.

Description

technical field [0001] The invention belongs to the technical field of teleoperation robot control, and in particular relates to an adaptive control method of a teleoperation robot based on a master-slave reference model for overcoming the influence of time delay. Background technique [0002] The teleoperating system is a powerful means to realize the operation in the dangerous environment of space, and it is an effective extension, expansion and even beyond the human perception and behavior ability. Due to the communication delay between the operator's position and the working position, the instability of the teleoperating system and the reduction of the operation performance are caused, and the delay will seriously damage the transparency of the system, causing the operator to make wrong judgments. [0003] In many cases, we have a certain understanding of the environment that teleoperation faces, such as the handling of nuclear materials in nuclear power plants, the scie...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 宋爱国李新吴涓崔建伟
Owner NANTONG ZHONGGANG COATING EQUIP
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