Research On Design And Control Of Heterogeneous Robotic Teleoperation System

Robotic teleoperation system combines human's experience and wisdom with the advantages of robots.It extends human's behavioral capabilities and perception capabilities while being able to replace human in complex or harsh environments.Thus,teleoperation system can protect the human operator's personal safety,reduce the production costs and increase the production efficiency.Compared to homogenous teleoperation system,the control and design of heterogeneous teleoperation system faces greater challenges due to different mechanical structures,degree of freedoms,communication methods,and task spaces between the master robot and the slave robot.In this thesis,the position synchronization control,target location-contact control,position and velocity synchronization control,and virtual constraint force clamping control of heterogeneous robotic teleoperation system are studied.The teleoperation system platforms are designed for experimental verification while proposing the control strategies.The main work of this thesis is divided into four parts as follows:(1)A basic heterogeneous teleoperation system platform is designed and the communication between the master robot and the slave robot is established.Moreover,a position synchronization control approach for heterogeneous teleoperation system is proposed based on task space conversion and mapping.The master and slave robot are in position synchronization such that the local human operator can accurately operate the remote slave robot.Finally,the effectiveness of the proposed approach is verified by the comparison of position trajectory tracking on the designed teleoperation system experimental platform.(2)For the problem of lacking judgment of the location and contact force of the target in heterogeneous robotic teleoperation system,a control method of location-contact control for heterogeneous teleoperation system is proposed.The proposed method combines the task-space conversion of the robots and the architecture of direct force feedback.First,the joint-space of the robots is converted to the task-space,and the task-space of the master and slave robots is mapped and matched.Then,a force sensor is incorporated to the architecture of direct force feedback.Therefore,the operator can obtain the direct force feedback and accurately operate the remote slave robot to contact the target and obtain the position of the target,and further determine the property of the target that the slave contacts in the external environment.Meanwhile,in order to verify the effectiveness of the proposed method,the experimental platform in Chapter 2 is improved by adding a force sensor so that direct force feedback can be realized.(3)For the heterogeneous teleoperation system,a synchronization control strategy of position and velocity is presented for the problem that the position and velocity of the masterare difficult to keep synchronized with the position and velocity of the slave,The interaction force between the operator and the master is utilized to make the master generate the position information and position variation.The position information of the master is used to control the position of the slave.Meanwhile,the position variation of the master is employed to indirectly control the velocity of the slave.In this way,the slave can act on the target more accurately and quickly.In order to verify the effectiveness of the proposed control method,the experimental platform in Chapter 2 is improved by adding velocity control so that the velocity and position synchronization control of the master robot to the slave can be realized.(4)In order to reduce the risk of the human operator in live-power line maintenance while performing the maintenance tasks accurately and quickly,a teleoperation system experimental platform of live-power line maintenance is designed based on the platform in Chapter 2.The designed experimental platform mainly includes the insulation protection and the clamping control.Through the design of the electric clamp control loop of the slave robot,the operator can control the electric clamp of the slave robot by the button on the master robot.Meanwhile,a virtual constraint force control strategy for robotic teleoperation system is proposed.The position difference between the end-effector of the slave robotand the task execution position is mapped to the end-effector of the master robot.A virtual constraint force is generated by the virtual spring which is feedback to the operator's hand by the master.In this way,the motion of the operator's hand can be constrained within the distance constant set range near the target point and the sense of force and touch from the slave reappear in the corresponding part of the human hand.The proposed control strategy is verified by three experiments on live-power line maintenance tasks,i.e.,clamping porcelain insulator pin,clamping drop-out fuse insurance,and clamping object on overhead wires.