Research Into Force Sensation Based Shared Control For Haptic Device

It is hard to fulfill the fully autonomous of robot in the changeable environment immediately, because of the development limitation of control, sensor and intelligence in robotics. Hence, the master-slave teleoperation is becoming increasingly important in the extreme working environment. The haptic device could work as an interface and fulfill the interactional control between operator and slave working environment. However, the traditional bilateral servo control strategies focused on the transmission of force sensation between human and robot. It took effects for the generation of feedback forces only under the condition that the salve robot was in contact with environment. The prerequisite for generation of feedback forces is ineffective for the ultimate control aim that to deal with robot control problem in changeable and unpredictable working conditions, as well as for the collision of robot with working environment in high-speed, heavy-load and longtime delayed control.The research is to solve the force sensation interaction and guidance problems in master-slave teleoperation. It focus on the design and control of haptic device with the force sensation based shared control strategy. The research thesis begins with the introduction of various prototypes of haptic device and control strategies in robot autonomous control field. With the combination of merits of these ideas, we designed the structure of the haptic device and analyzed the kinematics and dynamics in order to estimate the motion performance. The shared control strategy is introduced and tested for the haptic device after that to reduce the manipulation burden, improve working efficiency and increase the safety of the system.The research works in this thesis is stated mainly from the following aspects:1. Designing the mechanical and electrical structure of the haptic device according to the functional requirement of shared control;2. Analyzing the kinematics and dynamics property of the designed structure, instantiating the parameters of the device, and estimating the rationality of the design through the dynamics simulation and analysis;3. Constructing the shared control strategy based passive, active and assistant model for the master-slave interaction on the basis of visual servo based position control of salve robot and admittance control of haptic device;4. Analyzing the temporal logics of the master-salve teleoperation system, and applying the Kalman filter based position prediction algorithm into assistant model of shared control in order to reduce the disturbance of process noises and measurement noises to control system;5. Setting up the haptic device and robot teleoperation platform and coding for the shared control system in order to estimate and explain the performance of shared control based force sensation control for master-slave teleoperation.