Location And Force Control Of Teleoperation System Based On PHANTOM Omni Robot

Good position and force tracking are two important performance requirements on teleoperation system. However the external disturbances significantly reduce the position and force tracking accuracy of teleoperation system. To solve this problem, this paper proposes a control method which combines backstepping control and PID control to control theteleoperation system based on PHANTOM Omni robots. The main work of this paper are as follows:(1) In the control of a single PHANTOM Omni robot, backstepping controller is used to solve the external disturbance problem. A mathematical model is built and backstepping controller is designed. The stability of the system and the given command position tracking error convergence are proved with Lyapunov’s theory. The simulation and analysis show that the controller can effectively reduce and eliminate disturbance, and has good tracking performance.(2) A control method which combines backstepping control and PID control is proposed to improve the transparency and stability of the teleoperation system based on double PHANTOM Omni robots. PID controller is designed for the master robot to achieve force tracking, while backstepping controller is designed for the slave robot to achieve position tracking. Furthermore, simulations are conducted using MATLAB to verify the proposed method for the teleoperation system, composed of two PHANTOM Omni robots. Simulation results show that when the system is subjected to external disturbances, the proposed method which combines backstepping control and PID control can ensure system stability and keep good position and force tracking performance.(3) A teleoperation experiment platform is set up to realize the method which combines backstepping control and PID control. We translate the control method from MATLAB simulation to VC code and the two joints of each robot can be well controlled.