Research On Control Teleoperation Systems Of Force Telepresence

Teleoperation is widely applied in many areas, such as space applications, undersea exploration, nuclear area and telesurgery. Teleoperation of force telepresence stresses the force interaction of operator and teleoperation system or teleoperation system and environment. In most cases, it aims to improve the feeling that operator was performing tasks in the remote site. This could reduce the operator’s burden and time of task completion. More complex tasks can be done with reliability and safety improved.This dissertation mainly focuses on the aspect of teleoperation of force telepresence.The research work is briefly stated below:First, the teleoperation system of position-position structure which doesn’t need force sensors can be implemented and controlled easily. However, this structure has the problem of compromise among damping, reaction speed of system and stability. Towards this problem, a nonlinear variable damping control method is proposed which can reduce the position error between master and slave without causing too much damping.In practice, operator tremor can affect the task performance. A task space variable damping method is proposed to reduce the tremor. The analysed tremor behavior of operator is reduced by added damping force in the direction of tremor.Stability analysis is presented based on Lyapunov method and numerical simulations are given to show the effectiveness.Second, force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, this paper proposes a force sending method with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS(Input-State Stability) method and numerical simulations are given to show the effectiveness.At last, the research work is summarized and future work is discussed.