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Stability control method for time-delay asymmetric double-teleoperation system

A stable control method and operating system technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as time delay stability

Inactive Publication Date: 2016-10-12
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
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Problems solved by technology

[0003] The purpose of the present invention is to solve the stability problem caused by the time delay in the asymmetric two-person teleoperation system, and provide a stability control method for the time-delay asymmetric two-person teleoperation system

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  • Stability control method for time-delay asymmetric double-teleoperation system
  • Stability control method for time-delay asymmetric double-teleoperation system
  • Stability control method for time-delay asymmetric double-teleoperation system

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Embodiment Construction

[0047] The present invention is described in further detail below in conjunction with accompanying drawing:

[0048] see figure 1 and figure 2 , figure 1 Specifically describe the information transmission between the master terminal 1, the master terminal 2 and the slave terminal. The present invention is used for the stable control method of the time-delay asymmetric two-person remote operating system, including the following steps:

[0049] Establish two dynamic models of master and slave:

[0050] Z m 1 V h 1 = F cm 1 + F h 1 - - - ( 1 - 21 )

[0051] ...

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Abstract

The invention discloses a stability control method for a time-delay asymmetric double-teleoperation system. The method is characterized by, to begin with, establishing a model of the asymmetric double-teleoperation system; then, designing wave variables; and finally, establishing a time delay model. According to the method, speed and force information is converted into the wave variables and then, are transmitted; according to the passivity theory, passivity of channels under any fixed time delay condition can be ensured, and passivity of the double-teleoperation system under any fixed time delay condition can be ensured; and wave transform can be realized only by carrying out simple arithmetic operation on the speed and force information, and the method is easy to realize. Finally, the method can ensure the passivity of the channels under any fixed time delay condition; and master ends, a slave end and an environmental model are passive, so that passivity and stability of the whole system under any fixed time delay condition can be ensured.

Description

【Technical field】 [0001] The invention belongs to the field of remote operation control, and in particular relates to a stable control method for time-delay asymmetric two-person remote operation system. 【Background technique】 [0002] Teleoperation technology has played an increasingly important role in many fields such as space robots, high-precision assembly, and surgery. In a teleoperation system, the operator interacts with the remote environment through a slave-side robotic arm. On the one hand, teleoperation technology can provide the operator with a safe environment, and on the other hand, it can provide the operator with a strong sense of presence. The traditional single-person and single-machine teleoperation technology has high requirements for the operator, and the coordination is not strong, so it has limitations in completing complex tasks. Therefore, the multi-person and multi-computer teleoperation technology has emerged, especially the asymmetric structure...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 黄攀峰戴沛刘正雄孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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