Research On Key Technologies Of Time-vary Delay Teleoperation To Robot

Teleoperation robot is capable to work in some terrible environments or in place which is difficult to reach for human, such as long distance, vacuum environment, high temperature environment and radiation environment etc. Scientific experiments, assembly operation and maintenance work can be done by tele-robot. Time delay is varied by time because of the long transmission distance. One of the key difficulty to long distance teleoperation is to reduce the effect of time-vary delay. This dissertation studied some key technologies of time-vary delay teleoperation to robot.Firstly, how to establish a teleoperation system to robot is discussed by two branches, Virtual Reality (VR) environment modeling and dynamics modeling. The VR environment is built to simulation movements of the objects. The efficiency of he simulation must be considered. So the model has to be simplified before VR environment is built. Both the immersion and physical characteristics are required.Aimed to the complicated tasks to robot teleoperation, a task description method is put forward. A six-elements-structure established to descript teleoperation task, and every level of task use the same kind of structure. The structure can be easily read by computer programme, and autonomous intelligent of slave robot can be used to help finish the complicated task. Object oriented method is used to programe teleoperation task and to break down the task. Teleoperation task can be break down to three stages which are "reaching", "operation" and "leaving". Every level of task and every progress is break down to this three stages, until the therbligs level. The switching policy is promoted to increase the intervention of maseter side during the operation. This policy can help slave side to avoid some mistakes.A rolling prediction method is promoted to help predict the state of slave robot. BP Artificial network is used to predict the online state of slave. This prediction can reduce "move-wait-move" operation which is brought by time delay. Simulation experiment shows that this rolling prediction method can decrease the error of predictive simulation.Aimed to delay of force-feedback information and the low sampling rates of force sensor, a virtual force calculation method is put forward. This method is based on contact force database of material. An extrapolation algorithm is used to increase the sampling rates of force feedback. Simulation indicate that this method can gain smooth force feedback.Wave-variable is imported to reduce the affect to the stability of teleoperation system. Time delay simulation software is programmed to simulate time-vary delay environment in intranet. The stability of the teleoperation system is analysed by passive theory.Finally, a "Wuhan-Herbin" long distance robot teleoperation system is developed. Four experiments are finished under 5-7 seconds time-vary delay. Task level method, virtual force extrapolation algorithm and rolling predictive simulation are tested. Experiment indicate that this teleoperation system can use autonomouse intelligent of slave robot to finish complicated teleoperation task, provide immersion operation and reduce the working strength of human operator in master side.