Research On Control Algorithms Of Space Robot Teleoperation Based On The Absolute Stability

In the presence of large time delay and finite bandwidth, how to guarantee the stability and good performance is the bottleneck in the current research of space robot teleoperation. Based on former researches, this paper mainly focuses on the following issues: the performance indicators of force-feedback bilateral control and their measurement methods, the passivity theory and the absolute stability theory, as well as some control algorithms based on such two theories. The identification of the environment, the simulation platform and a one-dimension experimental system are also discussed.Researches on performance indicators of force-feedback bilateral control centralized on stability and transparency. The measurement method of transparency is redefined by decomposing the impedance into inertia, damping, stiffness and some neglectable high order items, after modeling the feeling of human being. Then the tracking accuracy indicator is proposed to quantitively measure the steady position error between the master side and slave side.The passivity theory and the absolute stability theory are two most widely used stability criteria of teleoperation. After introducing them briefly, Position-Error control algorithm and Force-Reflection algorithm are proposed, based on absolute stability. The stability, transparency and tracking accuracy of such two algorithms, as well as Anderson's control algorithm that based on passivity theory, are analysed in detail. MATLAB simulation is also carried out to verify the result of theory analysis.A real-time simulation system is built up. Two computers are used to simulate the situation of the host and the remote side separately. The host PC and a general force feedback joystick are used to input the control command. The SIMULINK model of space manipulator is running on the other PC, which is connected with an embedded processor (SBC). Such a real-time system would be quite helpful for the research of teleoperation of space robots.An online iterative identification algorithm that can simultaneously evaluate the order and the parameters of environment is talked about. The availability of such algorithm is proved through the physical experiment.