Performance Analysis And Physical Modeling Of Time Delay Teleoperation

For a further understand of the unknown nature, dealing with hazardous substances and the disaster, teleoperation is becoming more and more important in the modern society. Generally speaking, teleoperation is a long-distance operating system which handles complex task in harmful environment under the operator's supervision. It is a hybrid system which comprised of operator, master, communication, slave and environment. Utilizing master and slave, human intelligence can be mapped to complete tasks. So it is well known that teleoperation is also a collaborating system, which signals can be sent by the operator to control the movement of master, then the slave follows the master's movement. In order to improve efficiency, operator needs to feel force information of the environment in addition to visualization. If the interact force information which generated by the slave and environment can be sensed by the operator, then the operator have an immersive experience, this is the so-called force feedback teleoperation system.In force teleoperation system, time delays between the master and slave may cause serious impact, or even unstable. Time delays are so important that they are concerned both by designers and researchers. In commonly use, passive algorithm is an useful time-delay control algorithm for the teleoperation system.This thesis contains the following section:(1) Survey the historical and current research of teleoperation, and point out that the works had been done and the development tendency of teleoperation.(2) All-over the composition of the teleoperation and challenges caused by the time delay. In general, teleoperation can be described by 2-port network, and the time delay in communication channel will effect the stability of the system seriously.(3) Review of early experimentations. Experiment is the primary means of testing system performance in the early development of teleoperation. Researchers proposed the"move-wait"control strategy and supervisory control strategy.(4) Passivity and stability. Pointing out that the energy-storage function can be classified into Lyapunov-like function according the physical meaning of passivity. The system energy will tend to be zero as time go to infinity, therefore deduce the conclusion that if the system is passivity, then it is stable.(5) Control strategy based on passivity. Time delay will cause the communication channel to be activity, so arming at the communication channel maintaining passive, researchers propose the scatter operator method and wave variable method for constant time delay, meanwhile, external-gain method and operation method for variable time delay.(6) An excellent software named Maple\MapleSim is used for the system simulation. Not only algorithm simulations, but also 3D physical models have been constructed for analysising stability, position, velocity, or force traceability of the system as well. The 3D models produce good animation effects.