Research On Control Algorithms Of Dual Master And Slave Teleoperation System

In previous studies of teleoperation systems,people used single-master single-slave teleoperation systems to perform tasks in remote environments.However,for tasks that require coordinated interaction to complete,such as coordinated handling,multi-master multi-slave teleoperation systems have Higher flexibility,load capacity and other advantages.In this paper,the dual master-slave teleoperation system is taken as the research object,the coordinated transport task of the dual-master-slave teleoperation system is studied.In order to ensure the Coordinate the smooth completion of handling tasks,a sliding mode adaptive synchronization control algorithm for the dual-master-slave teleoperation system is proposed.This paper proposes a control algorithm combining sliding mode adaptive control and synchronous control for the handling tasks of dual-master and dual-slave teleoperation system,The track of the slave-side manipulator can track the master-side manipulator steadily,and the movement coordination between the two slave-end manipulators can be synchronized.First,the dynamic modeling of the master-slave end manipulator is carried out,and the mathematical models of the single master-slave teleoperation system and the multi-master-slave teleoperation system are given to pave the way for the control of the teleoperation system in the following.The dual master-slave teleoperation system of this subject has the same master-slave configuration.The master-slave end manipulator is a two-degree-of-freedom link type manipulator.Secondly,due to the uncertainty of the robot arm modeling in the teleoperation system and the external disturbance of the position will affect the trajectory tracking of the master-slave robot arm and even cause the instability of the system,this paper designs an adaptive sliding mode control algorithm to enhance the robustness of robot arm system,guarantees the control accuracy of trajectory tracking,and proves the stability of the control algorithm by Lyapunov method.Simulation and experimental results show that the adaptive sliding mode control algorithm proposed in this paper can also ensure the stability and control accuracy of the system under the condition that the modeling of the slave-side manipulator is uncertain.Finally,in the coordinated transport task of the dual master-slave teleoperation system,the relative position of the slave robot arm must be kept uniform,otherwise it will cause the task to be dropped.To solve this problem,this paper proposes a sliding mode adaptive synchronization control algorithm.This algorithm introduces the coupling error including position error and synchronization error into the control law,replacing the position error as the direct control variable of the controller,so The trajectory of the end manipulator steadily tracks the master end manipulator while ensuring coordinated and synchronized movement between the two slave end manipulators.The simulation results prove that the sliding mode adaptive synchronization control algorithm has stronger coordination and can ensure the successful completion of the handling task.