基于逆系统理论的力觉临场感机器人系统控制

Control of Force Telepresence Robot System Based on Inverse System Theory

力觉临场感机器人系统是一个存在通信时延的非线性耦合MIMO系统,因此,直接对其进行远程遥控非常困难。为了解决这个难题,首先运用了逆系统方法将从机械手线性化,并将其解耦成若干个伪线性SISO子系统;同时假设遥控过程中的输入通信通道和反馈通信通道的时延时间都为已知常数,从而将通信时延和伪线性系统作为复合被控对象;最后对每个SISO子系统分别设计了Smith预估器。仿真试验结果证明了该控制方法的有效性。

The force telepresence robot system is a nonlinear coupling MIMO system with communication delay, thus it is difficult to achieve remote control directly. In order to solve the problem, firstly, by adopting inverse system method, the slave manipulator is decoupled into several pseudo linear SISO subsystems; then supposing the time delays in input communication channel and feedback communication channel are all constants, thus the communication delay and pseudo linear system are formed a compound controlled object; finally Smith predictor is designed for each SISO subsystem. The result of simulation verifies that the control method is effective.