Study On Bilateral Control And Shared Control Scheme For Master-Slave Teleoperation System With Large Time Delay

The benefits of the addition of force feedback to a teleoperation system havebeen well recognized in the field. However, when the slave site is located farfrom the master site, communication delays between the two sites maydestabilize the bilateral system. And a large time delay in the force feedbackloop tends to decrease the transparency of the system.In this paper, series of controller designs are developed for an n-DOFnonlinear, time-variant teleoperation system with large time delays in thecommunication channels, based on the bilateral adaptive motion/force controland the shared adaptive motion/force control with compliant loop. To study thestability of whole system and analyze performances, Lyapunov candidatefunctions are chosen to present the sufficient condition to ensure stability and atransparency define is mentioned as performance index of teleoperationsystem.The paper is organized as follows:First, the general situation and present development of the teleoperationtechnology is summarized as well as the background and practical meanings ofthe teleoperation. The analysis of all sorts of control technologies is presentedand three control modes are given: Bilateral Control, Shared Control,Autonomous Control. A series of bilateral control methods are essentiallyemphasized.Then, a brief introduction of teleoperation system is presented with thedynamic model of the master/slave robot, the environment and the humanoperator. Transparency definition associate with the force and position trackingperformance is given. To study the time delay influence to the system stabilityand transparency, an n-port network model is built.Based on the model analysis and the transparency definition, the paperderives the bilateral adaptive controller design of the master robotincorporating a human operator and of the slave robot incorporating anunknown environment, and studies the stability of the whole system with timedelay considered. The method can be applied in unknown remote environment.No acceleration measurements are required. Due to time delay, a new tradeoffbetween stability and performances has been made in the selection of controllerparameters.In addition, a compliance force feedback loop is considered at the slave sideto make the stability of the slave robot be independent of the communicationdelay and the operator force. Especially, autonomous path planning isintroduced to hold back the quickly decreasing of motion/force tracking abilityfor rigid contact conditions at the slave side. To ensure the teleoperation systemcan perform different tasks in unknown remote environment especially instructured environment, a switch block with fuzzy logic control is designed toguarantee the switch intelligently between the bilateral adaptive controller andthe shared adaptive controller.Finally, Consider the realization of teleoperation process; a predictivedisplay simulation is designed to perform teleoperation tasks under a friendlyhuman-machine interface. The corresponding techniques including the...