Research On The Bilateral Control Method For Teleoperation Space Robot

With the continuous development of space exploration, in the universe space, the activity of human has become frequently. However, to the astronaut, the outer space is a hard environment to survive, which threating the space exploration by human. Space robots can substitute astronauts to complete dangerous space missions is the best choice to solve this problem. It is also a lot of space powers are doing. Space robot not only can avoid the risk of astronaut extravehicular operations and reduce space exploration costs, but also can be applied to an unstructured and unknown remote environment. And the bilateral control is an important part of the space robotics technology, and bilateral control has made some progress after a lot of research, but it still faces many problems. In this paper, further research on bilateral control will be done on the basis of previous research. The main work is as follows:Firstly, paper completed the theoretical analysis and research on the bilateral teleoperation control systems, and constructed the mathematic model, also analyzed the stability of system. Discussed the transparency and tracking performance of the system under two cases, i.e. slave manipulator contacts with the environment or not contacts with the environment. And then the metric function of the tracking performance is given., paper proposed the corresponding bilateral teleoperation control methods based on passivity wave variables, absolute stability and events control. Analyzed the stability of system by the method proposed in the chapter two, and discussed the transparency and tracking performance of the system under two cases referred to above. Meanwhile, the simulation by Matlab and experiment also were done. Secondly, paper proposed a bilateral control method with the time-varying delay system, it based on least squares vector machine and wave integral method, and it can overcome the stability issues with the variable time delay.Finally, this paper constructed a ground-based test validation system of teleoperation system, completed push space task and plug space tasks, verified the rationality and effectiveness of the proposed bilateral control methods.