触觉反馈遥操作机器人关键控制技术的发展现状

Development and present situation on pivotal control technology of teleoperation robots with haptic feedback

针对现有的综述难以全面涵盖在触觉反馈遥操作控制领域的新成果与新方向这一问题,分析了传统双向控制结构,对国内外新提出的改进四通道控制方法、移动机器人异构双向控制、多向控制结构、通信干扰观测器等方法进行了论述。对关键的四通道控制方法进行了实验和评价,分析了存在定常/时变通信延迟时的稳定控制方法,从而理清了遥操作机器人控制领域的研究脉络与方向。研究结果表明,触觉反馈遥操作机器人的控制技术将按有、无通信延迟划分,在两个方向上并行发展:一方面将以四通道方法为基础提出新的异构形式和多机器人控制结构,并通过干扰抑制来提高系统透明性;另一方面将以无源性理论以及干扰观测理论为基础发展出适用于时变延迟的高透明双向控制和多向控制方法。

Aiming at the problem that new results and developments are difficult to be covered by current overviews in the field of teleopera- tion control with haptic feedback, the recently proposed methods were investigated based on the analysis of the traditional bilateral control, such as the improved four-channel control, bilateral control of mobile robots with different structure and multilateral control. The key four- channel method was evaluated and tested by experiment. Besides, stabilizing controllers were analyzed in the presence of time invariant or time-varying communication delay. Developing directions of the studies in this field were cleared. The results indicate that the control of tele- operation robots with haptic feedback is developing in two parallel directions with or without the communication delay. On one hand, new structures facing to different and multiple robots are developing based on the four-channel bilateral control. The transparency will be further improved by the disturbance rejection. On the other hand, highly transparent bilateral control and multilateral control are developing based on the theories of passivity and disturbance observer, which is feasible in the presence of varying delay.