基于波变量方法的移动操作臂网络遥操作控制分析-analysis of teleoperation control of mobile manipulator network based on wave variable method.docxVIP

AbstractOperatorcanextendhisintelligencetoremoteenvironmentaswellasimproving workingefficiencyandguaranteeinghissafetywheninteractingwiththeenvironment viateleoperationsystem.Atpresent,teleoperationhasbeenwidelyusedinmanyfields suchasspaceexploration,telesurgery,deepseaexploration,nuclearindustry,military training,etc.Addingforcefeedbacktoteleoperationsystemcouldimprovethe telepresenceofenvironmentandtheabilitytocompletecomplextasks.However,Time delayincurredandinfluencedbytransmissionspeed,distanceandnetworkloadcould inducetheinstabilityofsystem.Wave-basedmethodcouldguaranteethepassive stabilityofthesystemundertheanyfixedtimedelay,butwillleadtotransparency decline.Inthispaper,awave-basedcontrolmethodisstudiedtoensurethepassive stabilityundervaryingtimedelay,andimprovesystemtransparencymeanwhile.With thehelpofcriticalcontrolmethodsstudiedinthispaper,thesixdegreesoffreedom master hand can realizethe control of redundantmobile manipulator.Firstly,analyzetheforwardandinversekinematicsofthemanipulatoraccordingto therobotconfigurationandpresentjointangles;putforwardaredundantinverse kinematicscontrolalgorithmbasedonjointanalogyandjointoptimizationaccordingto thestructuralcharacteristicsofthemobilemanipulator.Conductstaticsanalysisofthe manipulatorandderiveforceJacobianmatrix.Proposeacontrolstrategybasedon manipulatorsingularityandthemasterworkspace,bytheuseofwhichthecontrolof mobilemanipulatorbyPhantomDesktopisrealized.Experimentsshowthatwiththis strategymaster could manipulate theslaverobot in real time.Analyzethepassivityfthetraditionalwavevariablemethodundervaryingtime delayandputforwardawave-basedalgorithmofthreechannelbasedondisturbance observerformobilemanipulatorteleoperationsystem,whichsolvethepassivity problemofwavevariableundervaryingtimedelay.Totakeadvantageofthepassive stabilityofthevaryingtimedelaycontrolalgorithmandthegoodtransparency ofwave predictionmethod,thesetwoalgorithmsarecombinedsothattheoverallperformance ofthesystemwillbeimproved.Analyzeandcompare