基于变波阻抗控制策略的六足机器人双边遥操作

Bilateral teleoperation of hexapod robot based on variable wave impedance control strategy

针对变时延条件下六足机器人行进任务中的跟踪性较差问题,本文提出了一种基于波阻抗在线补偿策略的六足机器人双边遥操作控制方法。该策略以四通道控制架构为基础,采用时延预估器对通信时延进行预估,并设计波阻抗在线调整规则,以此提高系统的跟踪性。同时结合时域无源性控制方法,对通信环节与环境端潜在的有源性进行二次补偿,保证系统的绝对无源,利用Llewellyn准则设计主从端的控制律参数。搭建基于Vortex半物理仿真实验平台与实物实验平台对本文所提出的方法进行验证。实验结果表明变波阻抗控制结合时域无源性控制可以保证系统的无源性,相对于传统双边遥操作速度跟踪性提高了84.3%,力波动范围降低了84.7%。

To address the issue of poor tracking performance in locomotion tasks of hexapod robots under variable time delay conditions,this article proposes a bilateral teleoperation control method based on a wave impedance online compensation strategy.The strategy is built upon a four-channel control architecture and incorporates a delay estimator to predict communication delays.It further designs online adjustment rules for wave impedance to improve the system's tracking performance.Additionally,the time-domain passivity control method is combined to provide a secondary compensation for potential activeness in the communication link and the environmental side,which could ensure the system's absolute passivity.The control law parameters for the master and slave ends are designed by using the Llewellyn criterion.The proposed method is evaluated through the construction of a semi-physical simulation experimental platform and a physical experimental platform based on Vortex.Experimental results show that variable wave impedance control combined with time domain passivity control can ensure the passivity of the system.Compared with traditional bilateral teleoperation,the speed tracking performance is improved by 84.3%,and the force fluctuation range is reduced by 84.7%.