Research On Teleoperation Robot System Modeling And Passive Control Method Through The Internet

The rapid development of Internet has promoted the integration of computer network and robot field,so that the combination of network technology and remote control technology becomes the inevitable trend.Through the establishment of cross-region connectivity,robots in the Internet environment has opened up new applications,including: remote treatment,remote monitoring,distributed operations,network-based collaborative work,smart home and so on.Different from Local Area Network and private network,the openness of Internet means that its network performance is more dynamic,and the quality of network service provided is not guaranteed.Therefore,teleoperation systems in the Internet environment will be more affected by network latency,delay jitter,packet loss and availability of available bandwidth resources.These network performance parameters,with great uncertainty,are affected by both the network technology system and the change of network load.These factors directly affect the stability and transparency of the teleoperation robot system,which limits the development of teleoperation in the Internet environment.In this paper,we starte from the network system itself and the control domain,study the characteristics of Internet,especially the rule of network delay,model and predicte the delay data by statistical analysis.On this basis,we combine with the advanced control strategy to ensure performance of teleoperation robot system in Internet network transmission environment.In this paper,all kinds of performance parameters of Internet,especially the effect of random delay of Internet,on the teleoperation system are studied.Based on the establishment of statistics and data analysis,the Hidden Markov Model and the Delay Generation Model of network delay are established,and model of Internet delay data are analyzed and predicted.The model training experiment verify the time delay model predictive results are accurate.Secondly,the Dynamic and kinematics modeling of the manipulator and the mobile robot are carried out.The nonlinear friction part is added to the model,which makes the model more close to the real robot.On the basis of this,For the network random delay environmentthe,passive time-domain control method of the passive theory is used to accomplish passive stability control of variable time-delay of teleoperation system.Delay variable rate estimator is added to make the passive observer and passive controller more accurate.Simulation experiment result vertify the proposed method.Wave variable method is another important method of passive theory.Added improved smith control compensator based on Delay Generation Model,a closed-loop control structure for displacement tracking is formed and time delay feed-forward compensation is adopted to eliminate the influence of the communication random time delay of the teleoperation robot in the network environment and to improve the system operability.Then,for the complex multi-degree-of-freedom master-slave heterogeneous robots,based on the Euler-Lagrangian dynamics model of multi-degree-of-freedom robots,especially robot manipulator combined with mobile platform,use the Lyapunov function and Variable structure control method,achieve the decentralized control of the slave robot.At last,the reliable control of the teleoperation robot is realized under the simulated Internet environment through the network simulation and experiment.The result shows that the control scheme proposed in this paper can achieve accurate trajectory tracking in the network environment,The arm can also be stable to complete the predetermined action instructions,teleoperation robot system has a better control effect.The solution proposed in this paper can not only reduce the influence and limitation of Internet network service quality uncertainty on teleoperation robotic system,but also serve as the basis for further research on teleoperation robot in Internet environment,and network area research The results complement each other,through interdisciplinary efforts to shorten the teleoperation system and the distance of practical use for teleoperation robot technology to provide a broader application space.