Design Of Bilateral Teleoperation System And Research On Performance Optimization

With the development of technology and space exploration, teleoperation is an important control method of the space robot, and it will play more and more important function.The teleoperation have three ways: predictive control, teleprogramming, bilateral control. Because bilateral control can apply in non-structure, unknown environment, it becomes research hot in recent years. In the system of bilateral control with force feedback and time delay, according to the difference of obtaining feedback force by operator, the bilateral control method can be divided into half closed loop and closed loop mode. In this paper, aiming at the mission requirements of space-orbit monitoring, we construct the system of bilateral control with force feedback adopting half closed loop method.How to use ration evaluating function to measure the performance of the bilateral teleoperation system, then ameliorate the performance of the system to achieve optimal work efficiency according to the requirement of the environment is a problem full of theoretic value and realistic sense. Based on previous research, the performance index of the system of bilateral control with force feedback and time delay can be summarized as stability, transparency and tracking. Due to using the impedance of circuit theory to define transparency and tracking, it lacks of intuition and is difficult to measure.For the limitation of the current performance index, a new integrated performance index method of the bilateral teleoperation system has been proposed and define its measure formula, which is easy to comprehend and simple to use. Then we measure respectively the bilateral control method based passivity and the bilateral control method based on absolute stability theory by using the presented integrated performance index, the merit of the bilateral control method based on absolute stability theory is testified. A half closed-loop bilateral controller is designed based on the absolute stability theory, later, a bilateral control system is established. Through the half closed loop bilateral control system experiment, the stability of the system is proved and the performance of the system is analyzed using the proposed integrated performance index.A model of bilateral control system of half closed loop is built up. The parameter constraint equations are obtained based on absolute stability theory. Bilateral controllers are designed for simulation experiment with time delay of 1, 4 and 6 seconds. The result of the experiment is analyzed and provides guidelines for design of bilateral control system with large time delay. More study of the manipulation performance of the system is made with the assurance of stability of the system. The rule by which the input frequency and the time delay affect the system performance is analyzed, and find that the input frequency of the system must be decreased when the time delay of the system is increasing. Otherwise, the system performance of manipulation will be getting bad.We build a semi-simulation semi-practicality experiment system based on the principles of the bilateral control system., the scheme of the system includes the design of hardware, software, bilateral control algorithm and the simulation of the time-delay. do the experiment with 1, 4, 6 seconds unilateral delay respectively, validate the stability and manipulation performance of the system. By the analysis of the experiment curves under different time delay, the validity of the proposed integrated performance index is testified.In the end,the paper explore performance optimization based on the experiment system.