Research On Bilateral Shared Control System Of Hexapod Robot Based On Variable Weight

In recent years,with the maturity of hexapod robot walking technology,it has been widely used in exploration,rescue,anti-terrorism and many other fields.When performing such tasks,many unknown factors in the working conditions of robots,which will inevitably restrict the full play of their motion performance and control ability.Therefore,it is always used to add human in the loop control to improve the motion performance of leg walking robots,so that it can better complete the specified special tasks.But at present,how to coordinate the operation tasks among operators and efficiently solve the problems which may arise in the operation process,such as insufficient stability margin and poor tracking ability of the system,are still difficult to solve.In this dissertation,we take the hexapod robot as the research object and design a hexapod robot shared bilateral control method based on variable weight,which makes the operator have more reasonable control weight for the hexapod,and the operator's control can be more efficient to meet the stability margin requirements of the hexapod walking in complex terrain.In order to solve the problem of system traceability degradation caused by the delay problem in the control process,in this dissertation we use the wave variable transform method to compensate the network delay and eliminate the influence of delay on the control performance.This control method is based on the existing velocity-posture cooperative teleoperation framework and integrate the shared control strategy to improve the operation and coordination of the system.This system introduces the dominant factor as the control weight of the robot's velocity layer and the posture layer operation subsystem.The fuzzy factor reasoner with the stability margin as the input is used to solve the dominant factor,and then introduced it into the master controller and slaver controller.Moreover,we use the multi-master/single-slave multi-degree-of-freedom control system absolute stability theorem to selects the specific parameters in the controller,meanwhile the master robot guides the operator to perform iteration of the control command by generating haptic force.Finally,this method is verified by the experimental platform built by Vortex semiphysical simulation platform and operating handle.By comparing with the traditional cooperative control method,the variable weight shared control framework proposed in this dissertation can better maintain the stability of the robot under the premise of keeping tracking.Compared with the hexapod under the velocity-posture coordinated control,its stability margin range has been significantly reduced,and the feasibility of the system has been verified.