时延遥操作系统的从端预测无源控制

Time-delayed teleoperation using passivity controller with predictors on slave side

在传统的波控制器基础上,用线性两点预测与五点二次预测凸联合的方法对从端的期望速度与反馈力进行在线预测,并用此预测值指导从端机器人的动作,使其具有一定的自主性.当其与环境的接触力发生突变时,则停止预测,并适当回退其动作,等待操作者的指令.在从端设计了一个无源控制器用来吸收多余能量,以保证从端无源性,从而保证加入预测器后系统稳定.仿真实验表明,如果环境模型精确,安全系数选取适当,与传统的波控制器相比该方法能将系统的操作性能提高一倍以上.

A new control scheme for time-delayed teleoperation system is proposed by combining linear-two-point-prediction and five-point-square-prediction on the slave side based on traditional wave controller. These prediction values are used to guide the remote robot, making it independent of the operator to some extent. If the contact force changes suddenly, the prediction will stop and the slave robot＇s actions will be rolled back properly and wait for the operator＇s command. A passivity controller is introduced to dissipate excess energy and thereby grantee the system＇s stability. Simulation experiments show that with accurate environment model and proper safety coefficient, this scheme can improve the system＇s operating performance, being two times higher than traditional wave controller.