The Study Of Teleoperation Control Method For Space Maintenance

Space operation and control method has become the new focus of the space technology,such as assembly technology of large space mechanism,the clear of space rubbish,space refueling and rescue with spacecraft.At present,service task with spacecraft is extremely complex and arduous that astronauts can't complete it by themselves,so intelligent and dexterous robot will be used to complete the task.In order to eliminate the effect of time delay,external disturbance and unmeasurable environmental force,a novel adaptive robust control of teleoperation systems is designed based on disturbance observer and sliding mode control.Performance analysis and robust stability analysis of disturbance observer is conducted firstly,then simulation analysis with Matlab is implemented.At the same time,parameter designing of sliding mode control and sliding mode control method based on disturbance observer are studied,then simulation analysis with Matlab is implemented.Secondly,the dynamics of teleoperation systems and the dynamics of slave environment is studied.In order to eliminate the effect of time delay,external disturbance and unmeasurable environmental force,a novel adaptive robust control of teleoperation systems is designed based on disturbance observer and sliding mode control.When the environmental force is modelled ad a general linear regression form,its unknown parameters can be estimated online by the least square adaption law.The transmission signal from the slave to the master is replaced by those estimated environmental force.With the purpose of feeling the master impedance and environmental force by operator simultaneously,master impedance controller is proposed based on environmental force.After that,a complete simulation system of the proposed algorithm is established by Matlab,and no contact simulation and virtual contact simulation are carried out and the results show the effectiveness of the proposed control algorithm.Finally,a Geomagic Touch and a Cyton 300 manipulator are set up in the teleoperation systems to be the master manipulator and the slave manipulator separatively.No contact experiment with constant time delay,no contact experiment with varying time delay,spring contact experiment with constant time delay and spring contact experiment with varying time delay are carried out and the results show the effectiveness of the proposed control algorithm.