Nonlinear telecontrol system position and force tracking control system with time-varying delay
An operating system and tracking control technology, applied in the direction of manufacturing tools, manipulators, etc., 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
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[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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