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Non-linear teleoperation system position and force tracking and controlling system with time-varying delay

An operating system and tracking control technology, which is applied in the direction of manufacturing tools and manipulators, can solve problems such as force errors and master-slave robot position errors, and achieve the effect of improving accuracy and solving the transmission delay of master-slave robot position signals and force signals

Active Publication Date: 2014-06-04
XIHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a solution to the problem that the position error and force error between the master and slave robots are caused by the transmission delay of the position signal and force signal of the master and slave robots caused by the time-varying time delay in the nonlinear teleoperation system. The position and force tracking control system of the nonlinear telecontrol system with time-varying delay can improve the tracking performance of the system and ensure the stability of the system

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  • Non-linear teleoperation system position and force tracking and controlling system with time-varying delay
  • Non-linear teleoperation system position and force tracking and controlling system with time-varying delay

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Embodiment Construction

[0021] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] Such as figure 1 As shown, the present invention has a time-varying time-delay nonlinear telecontrol system position and force tracking control system, including an operator module, a master robot controller, a master robot, a communication channel, a slave robot controller, a slave robot and an environment module.

[0023] The forward time-varying delay of the communication channel is T m (t), the reverse time-varying delay is T s (t); the position q of the main robot m (t), the speed of the main robot The interaction force τ between the operator module and the main robot h (t), respectively become q through the communication channel m (t-T m (t)), τ h (t-T m (t)) is transmitted to the slave robot controller; the position q of the slave robot s (t), from the speed of the robot From the interact...

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Abstract

The invention relates to a robot teleoperation system control technology, and discloses a non-linear teleoperation system position and force tracking and controlling system with time-varying delay aiming to solve the problem of position errors and force errors, caused by transmission delay of position signals and force signals of a driving robot and driven robot, between the driving robot and the driven robot, wherein the transmission delay is generated by time-varying delay of a non-linear teleoperation system. By means of the non-linear teleoperation system position and force tracking and controlling system, system tracking performance is improved, and system stability is guaranteed. According to the technical scheme, the non-linear teleoperation system position and force tracking and controlling system with time-varying delay comprises an operator module, a driving robot controller, the driving robot, a communication channel, a driven robot controller, a driven robot and an environment module. By means of the non-linear teleoperation system position and force tracking and controlling system, the problem of transmission delay, generated through time-varying delay of the non-linear teleoperation system, of the position signals and force signals of the driving robot and driven robot can be effectively solved, and system position and force tracking accuracy is improved.

Description

technical field [0001] The invention relates to the control technology of the remote control system of a robot, in particular to the control system of the remote control system with communication time delay. Background technique [0002] The remote operating system is widely used in deep space, deep sea exploration, minimally invasive surgery, nuclear radiation management, remote rehabilitation treatment and other environmental modules that are difficult for humans to directly reach. Position and force tracking are the most important performance requirements of the teleoperation system, that is, the slave robot must be able to accurately track the position of the master robot, and at the same time, the operator module can accurately obtain the feedback of the interaction force between the slave robot and the environment module. [0003] Since there is usually a certain distance between the physical locations of the master robot and the slave robot, there is inevitably a time...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J3/00
Inventor 刘霞董秀成
Owner XIHUA UNIV
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