网络环境下遥操作机器人系统鲁棒控制地研究.pdf

Abstract Teleoperation system transmits commands and a behavior ordered by human manipulator in master station and performs in remote station, then desired performance and control can be realized. Especially now, Internet has been the signal transmission medium that is, the object of the study, networked teleoperation system . The features such as the low-cost, highly efficient, easy to maintain and re-configurable will become more obvious. The system is constituted by the operator, the master manipulator the master , Internet communication channel, the slave manipulator the slave and the environment. Networked teleoperation system will have a tremendous prospect in fields such as tele-education, service, health care, national defence and other operation of machinery and equipment. The main contributions of this thesis are as follows: Firstly, the thesis analyzes the situation, the significance, the research hot points and development trends of telerobot technology. It introduces the structure, the principle of the master-slave teleoperation system and the simplified dynamic model, and then a mathematical model based on the equation of state is presented. The stability and transparence problem of Internet-based teleoperation system caused by Internet time-delay is discussed. Secondly, the design procedure of robust controller is divided into two parts: The first step is the design for free motion, where the master and slave manipulators move freely and are unconstrained by the environment or any external source. Aimed at the unpredictable disturbance outside and time-delay problem, the controller based on mixed-sensitivity H ∞ robust control theory is designed. It’s hard to select weighting function and the controllers always have high order. So a practical weighting function selecting and the order reduction of