Research On Trajectory Tracking Of Teleoperation System With Time Delay And Force Feedback

In teleoperation systems,a large number of delays could occur due to remote or limited data transmission,and the normally delayed feedback signals would produce the position and force tracking errors between the master and slave robot,which affect the overall stability of the system.At the same time,the teleoperation system exists in the system model uncertainties,such as: delay,system dynamics parameter uncertainties,unknown external disturbances,and unknown the internal friction of the joints of the master and slaver,etc.These system model uncertainties would reduce the transparency of the remote operating system,and even cause system instability.Regarding the issue above.In this paper,based on the adaptive control and other intelligent control methods of neural network,under the condition of fixed communication delay,aiming at improving the tracking performance,stability and transparency of the system effectively,This paper used position error based(PEB)teleoperation control structure,and designed a number of delay force feedback teleoperation system bilateral controller.The main contents of this paper can be summarized as follows:(1)An adaptive control method based on PEB control structure is adopted for the uncertainties and delay of the dynamic parameters of the teleoperation system.Compared with the traditional existing time-delay adaptive bilateral controller,the proposed scheme has better system tracking performance.and more accurate the kinetic parameter adaptation.(2)Considering the unknown external interference,the internal friction of the master-slave robot and the fixed communication delay,a neural network adaptive control method is designed for the PEB teleoperation control structure based on Lypunov direct method.The simulation results show that the proposed method can be applied to complex teleoperation models with unknown external disturbances and mechanical internal friction,and the system has good tracking performance.(3)In order to make the teleoperation system more practical,it is necessary to effectively control the convergence time of the remote operating system.In the PEB teleoperation control structure,based on Terminal Sliding Mode Control and Adaptive Control,this paper designed a method of continuous finite time adaptive terminal sliding mode bilateral control.the proposed method is just a solution to the problem.And the simulation results show that the method is improved in the convergence time,but the accuracy of the tracking error is slightly smaller than that of the previous method.(4)The design method of this paper is applied to the master and slave robot,which is a two-degree-of-freedom two-link manipulator,which has a fixed communication channel delay on the teleoperation system simulation platform.The experimental results show that the proposed method has good practical control performance.