Simulation Study And Experiment System Improvement Of The Telerobot With Time Delay

Telerobot is a long-distance operating system which can do very complex task in harmful environment under the people's supervision. It is also a collaborating system of people and robot, which comprises of teleoperator, master robot and its controller, slave robot and its controller, and task or environment. Telepresence is the core of human-machine interaction. As the main content of telepresence technology, force telepresence technology can feedback interactive force between slave robot and environment to operator by force sensors. As operator can get full information about environment, he can control master robot with force perception. Force telepresence technology is a guarantee in performing contacting tasks by telerobots.In force telepresence system, there exists time delay between remote telerobot and local human operator in transferring signal. Designers are concerned about the stability of time delay system. In common use, passive algorithm is an useful time-delay control algorithm for teleoperation system.In this thesis, firstly two-port network passivity analyzing methods were introduced, then passive control methods based on it were analyzed. At present, stability of telerobot system is based on two-port network theory, namely, telerobot system is composed of two-port function blocks and single-port function blocks. So system's passivity can ensure system's stability.In this thesis, a simulation program was made to study the passive algorithm of Anderson & Spong. By simulation, stability of telerobot system include its tracking performance of position and force was analyzed profoundly. For further study of the time-delay control algorithms, an used single-degree-of-freedom force telepresence system was improved in its machinery, sensor and circuit.