Research On Passive Theory Based Bilateral Control For Robot Teleoperation

Teleoperation technology can take advantage of a robot of the distal end environment instead of human beings to complete field operations,to help people get rid of the restrictions of space distance and high-risk environment.As one of the main solutions to overcome time delay of teleoperation technology,bilateral control method allows the operator to complete the job in complex unknown environment with relatively simple feedback information and partial loop control of the distal end robot.Thus this method becomes one of the important research directions of teleoperation technology.With the focus on the negative effects caused by communication delay,this paper studies about the stability and synchronization of bilateral control method,the use of numerical simulation systems and physical structures verification platform verifies the feasibility and effectiveness of the theoretical results.The contributions of this paper are as follows:First,based on the criterion and the research of the passive theory,this paper studies the wave variables based four-channel bilateral control method and completes the stability analysis of this structure based on the method of passive stability analysis of multi-loop feedback structure.Meanwhile,in order to enhance the operating performance of the system,more relaxed stability constraints are concluded by the use of the absolute stability criteria.According to the mathematical model of the four-channel bilateral control method based on wave variables,a simulation system in the MATLAB/Simulink environment is built,of which the stability is verified by the numerical simulation results.Second,based on the research of the synchronization performance of bilateral teleoperation control system,a quantitative function of synchronization performance under constant delay condition is given,providing a strong basis for judging the performance of synchronization.Meanwhile,the wave variable four-channel bilateral control method based on the power buffer of master side is proposed.The addition of the buffer unit and compensation unit in the master controller of wave variable four-channel bilateral control structure achieves master-slave synchronization system control,enhancing the synchronization performance of the system and eliminating preemptive influence on master controller resulted from wave transform.The use of passive stability analysis method based on multi-loop feedback structure leads to the stable system constraints,and the numerical simulation results prove the effectiveness of this method.Finally,a bilateral teleoperation control method physical verification platform is built.On this basis,with the completion of the proposed experimental task,physical experiments are conducted on the wave variables based four-channel bilateral control method and power buffer of master side based wave variable four-channel bilateral control method.The analysis of experimental results verifies the feasibility and effectiveness of the theoretical approach.