Research On Delay-dependent Control Of Bilateral Teleoperation With Force Feedback Glove And Dexterous Hand

In recent years, robotic multi-fingered dexterous hand and it’s teleoperationbecome one of the focus of the robotics fields, however, limited by the feature of forcefeedback devices, teleoperation system transparency decreased. In addition, the timedelay in the teleoperation system will bring stability problems, although many scholarshave proposed a series of methods to solve the problem, but usually stability conditionsestablished by these methods are independent to the time delay, those control system isbound to be conserved, and usually to guarantee the stability will sacrafice thetransparency of system, therefore, seeking a suitable control law to make an optimalchoice between time delay stability and transparency has important significance. Thisarticle will study the time-delay dependent control base on master hand(HIT/DLR forcefeedback gloves)and slave hand(HIT/DLR dexterous hand).Firstly, by the kinematics and dynamics analysis, get the main information of thehand kinematics and dynamics, and these works are prepared for local controler desing.Master hand, for example, on the basis of kinetic analysis, followed by the joint positioncontrol design, fingertip position control design, impedance control, access to have thedesired dynamic characteristics of master-slave manipulator system, and impedancecontrol experiment result will be given.Then, according to the local system, elaborate with a single degree for example,establish the mathematical model of the teleoperation system. Select the appropriateLyapunov-Krasovskii functional, analyze the conservative of the delay-dependentcontrol. Futher, based on the right to freedom of matrix method proposed by Wu Min,anylize the robust stabilizaton of the teleoperation system. According to the method ofRobust H∞controller design proposed by Wu M, the delay-depedndent robust H∞controller design method for input delay system is acquired. Thus, a method to designdelay-dependent robust H∞controller is acquired. At last the numerical example andteleoperation experiment will be given.