Research On The Control Strategy Of Bilateral Teleoperation System With Force Feedback

It is bilateral teleoperation with force feedback that extends the human being ability to manipulating objects remotely by providing the human being with similar conditions as those at the remote environment.Bilateral teleoperation robots with force feedback have many applications,such as material transportation of modern factories,space exploration,bomb removal and the delivery of nuclear-infected objects.It is bilateral teleoperation robots with force feedback that enables the human-being to accomplish these tasks without exposing to these hazardous environments.It's stability and transparency that describe the performance of bilateral teleoperation systems with force feedback.Bilateral teleoperation with force feedback enable the human-being to combine tactus with optesthesia.However,the force feedback may lead to the instability of a bilateral teleoperation if the time delay in the communication channels exists.The instability of bilateral teleoperation with force feedback which is brought in by the time delay has become one of the difficult problems that researchers need to solve.Transparency is one of the main design objectives of teleoperation system because it provides the operator with a sense of being there.Transparency is evaluated by two criteria: the accuracy of the slave arm follows the position of the master arm and the master arm receives force feedback from the salve arm.Aim at meeting the conditions of stability and transparency,this paper designs two types of control strategies of bilateral teleoperation systems with force feedback.These control strategies emploies the four-channel structure and the power-based time damain passivity approach and delay estimator.The main content of research of this paper is as follows.(1)This paper researches then summarizes the control structures and control algorithms of several well-developed force-feedback bilateral teleoperation systems.This paper decides to improve the power-based time damain passivity approach.(2)The four-channel structure make the transparency of force-feedback bilateral teleoperation systems perfect in theory.Aim at improve the transparency of the two-channel power-based time damain passivity approach,this peper usesthe four-channel structure in combination with the two-channel power-based time damain passivity approach.And the simulation experiment is performed to prove the improvement of the transparency of the two-channel power-based time damain passivity approach.(3)This paper emploies the delay estimator to improve the transparency of the four-channel power-based time damain passivity approach on account of the defective transparency of the four-channel power-based time damain passivity approach.And the simulation experiment is performed to prove the improvement of the transparency of the four-channel power-based time damain passivity approach.