The Research Of Multi-DOF Teleoperation System Based On Passive Control

Internet-based teleoperation has developed rapidly with the increasing of network coverage and the rapid growth of network. The system expanded operator’s operating range and enabled people to work in dangerous working environment such as space, deep sea and so on. Until now, teleoperation system has been widely used in various fields but the Internet time delay, data packet loss are still key issues which affect system stability and transparency in teleoperation and the hotspot of numerous scholars’ research. The article study and analyzes from two aspects:teleoperation dynamic model, structure and teleoperation control research.This paper analyzed the teleoperation system structure at first, and on this basis, proposed the multi-degree-of-freedom master and slave manipulator dynamics model, environment model according to Euler-Lagrange mechanical equation (the piece-spring-damper model theory). Besides, the network model is designed based on the real network time delay from Beijing to Shanghai. What’s more, the structures of teleoperation and the one this paper used are introduced in section 2.On the basis of above work, the master passive controller and slave adaptive inverse dynamics controller are introduced according to the related passive control theory and adaptive control theory of teleoperation system and the different control purpose in master and slave. Above all, stability is the foundation of teleoperation system and there are many methods on the analysis of system stability at present. In this paper, we proved the system stability by the theory of passive and Lyapunov stability analysis method respectively, according to the specific condition of the proposed teleoperation system. What’s more, a simple and effective transparency quantitative method was introduced and the system transparency can be analyzed by transparency quantitative factors.In Simulation experiments, this paper built up 2-degree-of-freedom teleoperation system based on the Beijing to Shanghai real network delay data. The stability and transparency of the system were verified by analyzing the velocity signals and force signals of master and slave. What’s more.this paper set up a second experiment with the teleoperation based on predictive control under the same experimental conditions. the performance of the proposed system in this paper was verified.