The Control Method Research For Bilateral Force Feedback Teleoperation System

With the development of science and technology,robots have been applied in many areas,such as industrial,medical,educational and so on.Taking the advantage of hunman's flexibility,teleoperation system extends the human's interoperability and robots' adaptability effectively.Especially,the bilateral force feedback teleoperation system,which put focus on the force between hunman and the system,and the force between the environment and the system,can make the operator work as if they are just there and complete more complex and precise operations.In the bilateral teleoperation system,the main difficulties of the control is focused on,the negative impact of delay on the system performance,the complexity of the robot system,and other constraints on the system,etc.Aimed at the problems above,the control method of the bilateral force feedback teleoperation system with multi-degree of freedom is studied in this paper.For the isomorphic teleoperation system under time-varying delays,a Proportional-Derivative(PD)like controller,without making use of velocity measurements,is improved in this paper.By choosing Lyapunov-Krasovskii function,we show that the master-slave teleoperation system is stable under specific conditions in this paper.And with the given controller-design parameters,the proposed stability criteria can be used to compute the allowable maximal transmission delay.The results are also compared with the previous ones to prove its superiority under time-varying delays and finally the effectiveness of the proposed controller has been proved by the simulations.Aimed at Master-slave heterogeneous teleoperation sysytem,the kinematics and dynamics model of its in-paraller master are derived.And then,a task-space based PD+damping control method is proposed to ensure the system's stability under time-varying delays.By choosing Lyapunov-Krasovskii function,we show its effectiveness and it has been proved by the simulations.With the teleoperation system experiment platform,which uses the HD2 as the master and the Denso as the slave,the method proposed in this paper is tested with time delays considered or not.The results of the experiments illustrate the effectiveness of the method.