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A Nonlinear Teleoperation Multilateral Control Method Considering Formation Obstacle Avoidance

A control method and non-linear technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as uncertainty and nonlinearity, and achieve the effect of improving position tracking performance

Active Publication Date: 2022-01-04
ZHEJIANG UNIV
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Problems solved by technology

[0004] The present invention proposes a nonlinear teleoperation multilateral control method considering formation obstacle avoidance to solve the stability, transparency, nonlinearity, various uncertainties and incomplete constraints and obstacles existing in the traditional multilateral teleoperation system Technical issues such as formation and obstacle avoidance of slave-end multi-agents in the environment

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  • A Nonlinear Teleoperation Multilateral Control Method Considering Formation Obstacle Avoidance
  • A Nonlinear Teleoperation Multilateral Control Method Considering Formation Obstacle Avoidance
  • A Nonlinear Teleoperation Multilateral Control Method Considering Formation Obstacle Avoidance

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[0019] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0020] Now in conjunction with embodiment, appended figure 1 The present invention is further described:

[0021] Implementation technical scheme of the present invention is:

[0022] 1) Establish the physical model of the nonlinear multilateral teleoperation system, specifically:

[0023] 1-1) Establish the dynamic model of the main robot

[0024]

[0025] in, Indicates the joint rotat...

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Abstract

The invention discloses a nonlinear teleoperation multilateral control method considering formation obstacle avoidance. Aiming at the obstacle environment, the present invention designs an obstacle avoidance planner based on the artificial potential function obstacle avoidance algorithm and the navigator switching algorithm, and constructs virtual force feedback on the master end, so that the operator can grasp the movement situation of the slave end navigator in real time, and at the same time , designed the slave formation controller to realize the formation movement of the slave robot avoiding obstacles under non-holonomic constraints; considering nonlinearity and various uncertainties, designed the master trajectory planner and master controller to realize the master robot's formation movement Superior tracking performance; finally, through the controller and slave formation controller, the global stability of the multilateral teleoperation system is guaranteed.

Description

technical field [0001] The invention belongs to the field of teleoperation control, and specifically relates to a nonlinear teleoperation multilateral control method considering formation obstacle avoidance, which can simultaneously ensure the stability and transparency of the nonlinear teleoperation system and the formation and formation of multi-agents from the terminal. Avoidance. Background technique [0002] In order to meet the task requirements of complex mobile scenarios, the multilateral teleoperation technology with formation-type slave robots has been continuously used in industrial environments, that is, the operator operates slave robots (multiple agents) at the master end to complete their tasks in obstacles. Formation and obstacle avoidance in the environment have been widely used in the fields of detection and handling, and have been widely studied as an important supporting technology in the field of robot applications. [0003] However, considering the non...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈正黄方昊杨霄陈宣霖孙向伟聂勇唐建中朱世强
Owner ZHEJIANG UNIV
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