All-state control method for flexible master-slave robot system under time-varying delay

A robot system, main robot technology, applied in the direction of comprehensive factory control, program control, general control system, etc., can solve problems such as affecting control accuracy and system stability

Active Publication Date: 2020-05-12
YANSHAN UNIV
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  • Application Information

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Problems solved by technology

However, there will be vibration patterns in flexible joints, which may affect the control accuracy and system stability.

Method used

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  • All-state control method for flexible master-slave robot system under time-varying delay
  • All-state control method for flexible master-slave robot system under time-varying delay
  • All-state control method for flexible master-slave robot system under time-varying delay

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Embodiment Construction

[0099] The present invention will be further described below in conjunction with accompanying drawing:

[0100] Such as figure 1 Shown, the step of the inventive method is as follows:

[0101] Step 1. Select the main robot and the slave robot and connect them through the network to form a teleoperation system, then measure the system parameters of the master robot and the slave robot, and use the force sensor to measure the force exerted by the operator and the force exerted by the external environment;

[0102] The system parameters of the master and slave robots include: the length information and mass information of the manipulator, and the positive definite inertia matrix M of the master robot and the slave robot respectively calculated according to the length and mass information of the manipulator m (q m ), M s (q s ), Coriolis force and centrifugal force vector Gravity matrix G m (q m ),G s (q s ), the constant diagonal matrix J of the moment of inertia of the...

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Abstract

The invention discloses an all-state control method for a flexible master-slave robot system under time-varying delay. The method comprises the following steps of designing a proportional damping controller based on position error and speed and an all-state feedback controller based on a backstepping technique separately for the master robot and the slave robot in a remote operating system composed of a master robot and a slave robot through a network; designing a high-dimension consistent precise differentiator to achieve precise differentiation of a virtual controller; and constructing a Lyapunov equation, establishing a system time-lag related stability criterion, and providing a controller parameter selection standard to achieve global stability of the flexible master-slave robot system under time-varying delay. For the flexible master-slave robot system, the all-state feedback controller based on the backstepping technique and the high-dimension consistent precise differentiator is adopted, so that position precise tracking of a control system in a global range is achieved, global asymptotic convergence of the system is guaranteed, and the robustness of the system is improved.

Description

technical field [0001] The invention relates to the field of control of a flexible master-slave robot system, in particular to an all-state control method for a flexible master-slave robot system under time-varying time delay. Background technique [0002] The flexible master-slave robot system is a research on the flexibility of the joints of the manipulator in the robot system. It is a very complex dynamic system with high nonlinearity, strong coupling and time-varying delay. Compared with rigid joints, flexible joints have the advantages of small size, high flexibility, high load-to-weight ratio, low energy consumption, and wider working space when completing some complex and difficult tasks. Usually, the teleoperation system is a kind of flexible master-slave robot system, and the teleoperation system is a kind of long-distance operation system that completes relatively complex operations. It is mainly composed of the operator, the main robot system, the network informa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J9/16
CPCB25J3/00B25J9/16B25J9/1689G05B2219/39195G05B2219/39219B25J9/0084
Inventor 杨亚娜甘露陈奕行李军鹏华长春
Owner YANSHAN UNIV
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