Control Study Of Teleoperated Robots With Time Delay

Bilateral teleoperation systems allow a human operator to extend his/her intelligence and manipulation skills to remote and/or hazardous environments. Bilateral Teleoperation is one of the most interesting and challenging research areas and can be used in a wide range of applications such as outer space exploration, handling of toxic materials, and minimally invasive surgery. As a result, control technology should be fully developed for teleoperation in all these applications.In this paper, motion/force synchronization of the bilateral teleoperation systems with dynamical uncertainties and time delays are investigated. By feedback linearization, the nonlinear dynamics of the teleoperation systems are transformed into two subsystems. Then, based on Lyapunov stability analysis method, adaptive control strategy is developed for the nonlinear teleoperators with dynamical uncertainties. However in reality, delays are often time varying and dynamical uncertainties are also too complicated to be estimated by linear approach. Facing these challenges, stochastic Markov Jump model for asymmetric time delays and adaptive fuzzy control for nonlinear approximation are proposed in this thesis. Such improvements could approach real systems precisely and broaden the application range of the adaptive control algorithm for teleoperation systems. In addition, using the impedance model which is related to physics, research on teleoperation systems goes a further step into force control rather than conventional motion synchronization. Such force control has a wider application range in situations like grasping objects and remote surgeriesFinally, the extensive Matlab simulations and experiment on real 2-DOF robot system are performed to show the effectiveness of the proposed method.