| Calcium carbide is an important industrial raw material.The traditional production of calcium carbide has many problems such as labor intensity of workers.Therefore,the relevant enterprises have designed a robot based on master-slave teleoperation technology to enhance the automation level of calcium carbide production.However,there are shortcomings of low operating efficiency and heavy burden of operation in the production of the stone out of the furnace.Therefore,it is necessary to introduce virtual guidance force into teleoperation system to assist operators to control and guide remote robots.Based on the above background,this paper studies the effective virtual guiding force generation algorithm for two specific scenes of burning and positioning in the burning link,and integrates the real-time control loop of the tele operating robot under the premise of ensuring the stability of the system.Firstly,an auxiliary ablation strategy using virtual guiding force to assist the operator to adjust the length of the arc is proposed,and a virtual guiding force generation algorithm based on the model of the burner is designed.Based on the physical characteristics of AC arc,an alternating current arc model which is suitable for the description of nonlinear differential equation in time domain is derived,and a model of the arcing arc is derived from the model of the practical system of the burn out circuit system,and the simulation is verified by the simulation.Finally,based on the research of ablation efficiency,a virtual spring force model based on linear spring model is designed.Secondly,a virtual guidance force aided teleoperation localization method based on target prediction algorithm is proposed.A target prediction algorithm based on cost function is proposed based on traditional auxiliary teleoperation positioning method.The calculation method of potential target point probability is derived by using the Bayes rule,and the probability distribution model of operator's action is established with the cost function and the maximum entropy theory,and the theoretical basis of the algorithm is derived.Different cost functions are designed from the point of view of distance and speed.Finally,the effectiveness of the algorithm is verified by experiments.Thirdly,the two port network model of the virtual force feedback system is established,and the reason for the instability of the system is analyzed by passivity theory.On this basis,an adaptive output constraint algorithm is designed to ensure the stability of the system.By monitoring the total energy of the cascade subsystem,the maximum output force allowed at the next sampling time is predicted and the output force is adjusted in real time,thus the oscillation of the system is suppressed.Finally,the minimum friction coefficient and the minimum friction coefficient of the force feedback main hand used in this paper are measured in this paper.Finally,the parameter identification experiments of the burn through arc model and the verification experiment based on virtual guiding force are carried out respectively.The experimental results of the former obtained the parameters of the arcing arc model and further proved the correctness of the model.The latter shows that the auxiliary Teleoperation Based on the virtual guiding force can significantly improve the burning efficiency through the current curve and power curve.Compared with the heat generated by the target power,the heat generated by the arc in the actual production is 73.6%,while the arc generated by the virtual guiding force is 85.7%.The virtual guidance force curve shows that the passivity based force feedback control algorithm effectively suppresses the oscillation of the virtual guiding force and ensures the stability of the system. |
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