Research On Time Delay Compensation Of Robot Teleoperation System Based On Digital Twin

With the rapid development of the fourth industrial revolution,space robot teleoperation technology has made major breakthroughs.However,in the process of space robot teleoperation,communication delay is often unavoidable,which leads to the performance degradation and even instability of the teleoperation system.Therefore,it is very important to study the time delay of space robot teleoperation system.This paper mainly studies the time delay compensation control problem of robot teleoperation.The specific work is as follows:1.On the basis of modeling the virtual environment,by defining the master-slave communication protocol,the robot teleoperation system based on the digital twin is designed and implemented.At the same time,the delay composition of the robot teleoperation system is studied,the delay acquisition model is used to obtain the delay,and the influence of the delay on the robot teleoperation is analyzed.2.Aiming at the fixed time delay problem in the communication link of the robot teleoperation system,an algorithm combining Smith adaptive predictive compensation control and time delay compensator is proposed to compensate for the fixed time delay of the system.Aiming at the forward channel delay of the system,based on Smith's estimation,the masterend controller is designed by fusing the model reference adaptive algorithm,which reduces the sensitivity of Smith's estimation to model errors.At the same time,a delay compensator is used to compensate the delay of the feedback channel.The MATLAB simulation experiment proves the effectiveness of the fixed time delay compensation control method.3.Aiming at the variable delay problem in the communication link of the robot teleoperation system,a delay buffer algorithm is designed,which converts the variable delay into a fixed delay,and then performs the delay compensation control.Then use the prediction correction algorithm to correct,reduce the deviation of the predicted state from the actual state.Finally,a mechanical arm piercing experiment was designed to verify the effectiveness of the prediction and correction method based on delay buffer in solving the variable delay problem.The research work of the paper shows that the delay compensation method designed in this paper can effectively improve the stability of the teleoperation system and ensure the overall performance of the system under delay.