Modeling And Control Method Of Teleoperation System With Variable Delay

With the development of science and technology,especially computer and robotics technology,robotic teleoperation technology is now widely used in various fields such as scientific research,manufacturing,aerospace,medical and health care.However,when constructing a teleoperation system,there will always be some problems mainly including complex masterslave teleoperation robot model,time-varying delays from communication part that interfere with system stability and coordination problems with dual-arm teleoperation.This article focuses on the above issues and conducts the following research and experiments:1)For the teleoperating robot model construction problem,this paper uses the DH parameter method to construct an accurate kinematics model for the master-slave robot,the force feedback joystick TouchX and the dual-arm robot Baxter,using the robot toolbox in the Matlab simulation tool Simulink.The Monte Carlo method implements master-slave robot space matching and uses the closed-loop inverse kinematics(CLIK)algorithm to avoid singularities and numerical drift of robot kinematics.Due to the problems of nonlinearity and uncertainty,it is very difficult to accurately construct a multi-degree-of-freedom robot dynamics model.In this paper,by using the radial basis function(RBF)neural network compensation algorithm,the ability of the nonlinear function can be globally approximated by the RBF neural network.The PD controller based on the RBF neural network compensation is set at the left arm of the slave robot Baxter robot.Through theoretical derivation and comparison experiments,it is proved that using RBF neural network can make the trajectory following error among the master device and slave robot converge to the minimum value.2)In view of the problem of time-varying delays affecting the stability of the teleoperation system,this paper introduces a wave variable algorithm that can make the teleoperation system passive and stable.A correction wave algorithm is used on the basis of the basic wave variable algorithm,and a correction wave is added behind the delay model in the wave channel,so that the master-slave teleoperation system guarantees stability in the presence of a variable delay.The Lyapunov equation is used to prove the convergence of the stability and following error of the designed teleoperation system,and the transparency of the interactive force feedback in the presence of time delay.3)For the coordination problems of dual-arm teleoperation,the master robots in master part this article selects two TouchX force feedback joysticks and the slave robot selects the Baxter dual-arm robot.After constructing the basic kinematics and dynamics model of the masterslave robot,an impedance control algorithm is designed for the simulated dual-arm robot to improve the control performance of the robot arm and realize the compliant control of the distal grasping object.And during the task of the remote dual-arm robot,through the analysis of the internal force of the grasping object,the stability and transparency of the control of the dual-arm robot are improved,so that the operator's hands can accurately perceive the force status of the remote arms.The experimental results prove the correctness of the internal force analysis and impedance control algorithm of the dual-arm robot.