Research On Bilateral Teleoperation System With Uncertain Parametets

Tracking performance of a bilateral teleoperation system requires the slave in the remote environment can exactly reproduce the position trajectory of master through appropriate control methods, while transparency of a bilateral teleoperation system needs accurate feedback of slave-environment contact force and position to the operator via master. As an inevitable issue in bilateral teleoperation system with communication channel between master and slave such as long distance earth-planet teleoperation system or network teleoperation system, time delay between master and slave plays a critical role in system stability and tracking performance. Due to the complication of the manipulator modeling and uncertainty of unknown working environment, uncertain dynamic and kinematic parameters such as unknown position and orientations of objects in environment and uncertain mass distribution when slave manipulator grasps these objects have serious impact on the manipulators modelling and solving.Considering both dynamic and kinematic uncertainties as well as frictions and external disturbances in environment, adaptive control algorithms and fuzzy logic controller are presented and combined to address the impediment of imprecise measurement of parameters as well as environmental frictions and external disturbances, respectively. In the presence of constant communication delays, control algorithms and laws aforementioned are updated to guarantee the stability and position tracking performance of the teleoperation system. Stability problem of the teleoperation system is studied by Lyapunov-Krasovskii theory. Numerical simulations are performed to demonstrate the efficacy of the developed teleoperation systems.