Wave variable displacement tracking and control method based on local data of slave

A tracking control and local data technology, applied in the direction of electrical digital data processing, program control manipulator, special data processing applications, etc., can solve the problems of actual speed deviation and tracking deviation of the master-slave robot, and achieve the elimination of tracking deviation and easy implementation , the effect of improving accuracy

Inactive Publication Date: 2014-06-18
NANCHANG UNIV
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Problems solved by technology

[0007] This deviation is caused by wave transformation, which will eventually lead to a deviation in the actual speed of the master-slave robot
The main purpose of the present invention is to solve the problem of tracking deviation between master-slave teleoperated robots caused by wave variables under time-delay conditions

Method used

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  • Wave variable displacement tracking and control method based on local data of slave

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Embodiment

[0028] Embodiment: A wave variable displacement tracking control method based on local data from the slave. See figure 1 . In the wave variable master-slave teleoperation system with communication delay, the deviation between the speed command of the slave terminal and the ideal speed command signal is:

[0029] 。

[0030] In order to achieve the ideal tracking between the master terminal and the slave terminal, the present invention designs a forward wave variable corrector to correct the speed command deviation caused by wave transformation .

[0031] The embodiment of the present invention is a master-slave teleoperation system operation robot control system based on wave transformation, including a master robot and a master computer control system on the master machine, a slave robot on the slave machine and a slave computer control system, and the master machine Data transmission is carried out with the slave computer through the communication network connection. This meth...

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Abstract

The invention discloses a wave variable displacement tracking and control method based on the local data of a slave. The purpose of the invention is to solve the technical problem that the wave variable can cause the tracking deviation of a master unit and a slave unit under the condition of delay. Aimed at a wave variable master-slave teleoperation system with delay, the method compensates the displacement deviation of the master unit and the slave unit in the master-slave teleoperation system caused by the change of the wave variable according to the local data of the slave unit, so that both the speed and displacement of the slave unit can accurately track the speed and displacement of the master unit, and thereby the stability and tracking performance of the master-slave teleoperation system are enhanced.

Description

technical field [0001] The invention relates to the technical field of remote master-slave teleoperating system operating robot control technology, in particular to a wave variable displacement tracking control method based on slave local data in time-delayed wave variable master-slave teleoperating system operating robot tracking control technology. Background technique [0002] The working mode of the master-slave teleoperation system can extend human hands to perform tasks in environments that are difficult for humans to reach or that are harmful to humans. However, there is a certain delay between the data communication between the master-slave teleoperation system and the robot. This time delay will lead to the instability of the master-slave teleoperation system. The wave variable conversion can solve the problem of system instability caused by the data communication delay between the master computer and the slave computer, and can obtain stable teleoperation under an...

Claims

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Application Information

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IPC IPC(8): B25J9/16G06F19/00
CPCB25J3/00B25J9/1602B25J9/1664
Inventor 胡凌燕徐少平程强强赖蘋华刘小平
Owner NANCHANG UNIV
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