| Tele-robot is a long-distance operating system which can do very complex task in harmful environment under the people's supervision. It is made of operator, master robot , the correspondence link, slave robot and environment. The virtual reality technology is the core of man-machine interaction, Force tele-presence technology can feedback interactive force between slave robot and environment to operator, which enables the operator to have the experiencing personally feeling. Tele-operation systems especially the ones with force tele-presence extend the perceptional and operational ability of operators significantly.They have been applied to many areas, such as deep ocean detecting , the space exploration and the nuclear industry and so on. While tele-operation systems guaranteed that the operator safety and enhancement working efficiency, they suffer from serious problems resulting from the communication link which will bring on time-delay inevitably. When the time-delay is big enough or varying, which will cause the system to be unstably and not work normally. But designers are concerned about the stability of time-delay systems. With the rapid improvements of computer network, nowadays, tele-operation systems based on Internet that have been paid a great attention by scholars because of the versatility and the low cost of the Internet. But due to the random time which Internet causes, which will cause the instability of tele-operation robot systems seriously, what's more, which will not cause the transparency of it. To solve the problem, firstly, the time-delay of Internet will be analyzed, and then the time-delay controller of network tele-operation robot system will be designed. The main work of this paper are as follows:Firstly, the research significance and background of the tele-operation robot systems will be proposed, and introduced the development condition of the tele-operation systems, and also the existence problem of the tele-operation systems will be analyzed at present. And we play emphases on the stability of the system, due to the Internet caused the time-delay, which lead to the system's instability.Secondly, in the tele-operation robot system, the time delay which Internet causes is always the important technology that realizes the system, the time delay will cause the system to be unstable. Through research of communication mode and time-delay characteristics in this paper, introduced the network latency's constituent and computational method, and analyzed the primary factors which affect the network latency were summarized. passivity analyzing methods were introduced, and then passive control methods based on it were analyzed, in this article provided the passive control algorithm passive control component. A passive control algorithm based on two–network theory was introduced, the tele-operation system can be equivalent to a passive network.With the control algorithm to control tele-operation robot system, which realized the track of master and slave robot, and reduced the influence of time-delay which is on this tele-operation system, and good operation performance will be achieved. And then the control of Internet with time-varying time-delay and data loss problem was discussed. At last, the effectiveness of the passive control algorithm was showed through simulation.Finally, memory position and velocity feedback is proposed to guarantee stability and transparency of a tele-operation robot system with time-delay and uncertain parameters which can reduce the stability and transparency of the tele-operation robot system. Combining the equation of state space models and selecting appropriate Lyapunov function to testify the stability of this tele-operation system. At last, Linear matrix inequality is used to design feedback parameters of the system, then robust controller algorithm of tele-operation robot system is provided. At last, the effectiveness of the robust controller algorithm was showed through simulation, and good performance will be achieved. |
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