CN106527127A - Time delay teleoperation robot adaptive control method based on environmental impedance model - Google Patents
Time delay teleoperation robot adaptive control method based on environmental impedance model Download PDFInfo
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Abstract
The invention discloses a time delay teleoperation robot adaptive control method based on an environmental impedance model. A master-end robot, a master-end environment geometric model, an environmental impedance model, a time delay communication link, a slave-end environment geometric model, a location correction and calculation link, a slave-end robot and a real environment are included. The environmental impedance model outputs reference force signals, and together with force signals generated when the slave-end robot and the real environment are contacted, are inputted to the location correction and calculation link for comparison operation, an adjustable gain is outputted, the slave-end environment geometric model is adjusted according to the adjustable gain, an actual location instruction is obtained to control movement of the slave-end robot, the location information of the slave-end robot is corrected continuously to be close to the location information of a virtual environment, the master end guides the slave ends, adaptive control teleoperation influenced by time delay can be overcome, and the system can operate stably.
Description
Technical field
The present invention relates to a kind of time delay teleoperation robot adaptive control method based on condition impedance model, belongs to machine
Device people's control technology field.
Background technology
Due to the mal-condition of hazardous environment, the task of fulfiling assignment is gone by operator, dangerous high and cost is very
Height, replaces people to go the task of fulfiling assignment by robot, is the major way for realizing remote job.But operator present position
The presence of communication time-delay causes the stability of remote control system to reduce between distal environment, reduces system transparent, to behaviour
Author's tele-manipulator causes extreme difficulties.
In most remote control system, we will go performing for task to set in advance in robot, to be interacted
Environmental objects mostly are known, such as the latch such as hole of Space teleoperation, fragment of recovering satellites, and are all structurized interactive objects,
Structured environment can be defined as.Current remote operating is the operation under structured environment mostly, and feature is that communication time-delay determines,
Environmental objects dynamic behavior, size, shape are, it is known that and the real time position of environmental objects is mainly obtained by sensor detection, pole
It is also easy to produce measure error.In the case, as operator is operated according to the geometrical model of existence position error, easily do
The judgement for making mistake and operation.
China Patent No. is that 201010265872.2 patent of invention discloses a kind of distant behaviour based on master-slave reference model
Make robot adaptive control method, including：Main side loop, from side loop and communication time-delay link, routing operations are returned on main side
Person, main robot and main surrounding environment model are constituted, and returned routed environment from side, are repaiied from robot, from surrounding environment model, model parameter
Positive module and simulation time delay module composition.Reference force signal is provided from surrounding environment model, the force signal input mould with environmental feedback
Shape parameter correcting module is compared, and using its error, exports adjustable gain pc (τ), and pc (τ) is from model parameter correcting module
Output, adjusts main surrounding environment model after communication time-delay link, provides feedback force signal by main surrounding environment model for operator,
Meanwhile, adjustable gain pc (τ) is adjusted from surrounding environment model after simulating time delay module, is constantly circulated, main surrounding environment
Model and from the surrounding environment model just constantly environmental model of approaching to reality, formation overcomes the remote operating of time delay influence, and makes
System obtains stable control, but the patented method Main Basiss are from the main surrounding environment model of surrounding environment Modifying model, to hour
Effectively, with the increase of time delay, its effect gradually can weaken, in the case of compared with long time delay, even if main side ring for operation under prolonging
Border model with constantly approach from surrounding environment model, can still cause risky operation.
The content of the invention
Goal of the invention：The present invention is, under time delay remote operating environment, there is error problem for environment Geometric Modeling, is proposed
A kind of time delay teleoperation robot adaptive control method based on condition impedance model, realizes system stable operation.
Technical scheme：For achieving the above object, the technical solution used in the present invention is：
A kind of time delay teleoperation robot adaptive control method based on condition impedance model, including main side robot
(2), main side environment geometrical model (3), condition impedance model (4), time delay communication link (5), from end ring border geometrical model (6),
Position correction calculates link (7), from end robot (8), true environment (9), condition impedance model (4) and true environment (9)
Cause, main side environment geometrical model (3) with from end ring border geometrical model (6) existence position deviation, if when anaplasias of the t for control system
Amount, T are the delay volume of communication time-delay link, comprise the following steps：
Step 1, operator (1) send main side position signalling x by main side robot (2)m(t), the main side position letter
Number xmT () is input into main side environment geometrical model (3), condition impedance model (4) and time delay communication link (5), condition impedance respectively
Model (4) produces impedance model output force signal fmT (), condition impedance model (4) are：
Wherein, fmT () represents impedance model output force signal, time variables of the t for control system, k are environmental model
Coefficient of elasticity, xmT () represents main side position signalling, surface geometry coefficients of the n for environmental model, model systems of the b for environmental model
Number,Represent xmThe derivative of (t)；
The impedance model exports force signal fmT () forms the resistance for postponing 1T after time delay communicates link (5) time delay 1T
Anti- model exports force signal fm(t-T) in-position corrected Calculation link (7)；
Step 2, the main side position signalling xmT () forms from side position after time delay communication link (5) time delay 1T and believes
Number xm(t-T), from side position signalling xm(t-T) enter from end ring border geometrical model (6) and formed from end control position signalling xc(t-
T), from end ring border geometrical model (6) it is：
xc(t)=Re(t+T)xm(t)；
Wherein, xcT () is represented from end control position signalling, Re(t+T) represent adjustable gain；
It is described to control position signalling x from endc(t-T) input makes from end robot (8) to move and produce from end robot (8)
Raw environment position signal xe(t-T) true environment (9), is acted on, true environment output force signal f is producede(t-T) it is, described true
Environment is：
feT () represents true environment output force signal, xeT () represents environment position signal；
The true environment exports force signal fe(t-T) in-position corrected Calculation link (7), position correction calculate link
(7) according to the impedance model output force signal f after time delay communication link (5)m(t-T) and true environment output force signal fe
(t-T) export adjustable gain Re(t-T), described adjustable gain Re(t-T) it is input into from end ring border geometrical model (6), from end ring border
Geometrical model (6) is according to adjustable gain Re(t-T) correct from end ring border geometrical model (6), by revised from end ring border geometry
Model (6) is used for the control in next cycle；
Step 3, operator (1) send new main side position signalling x by main side robot (2)m(t-2T), the new main side
Position signalling xm(t-2T) main side environment geometrical model (3), condition impedance model (4) and time delay communication link (5) is input into respectively,
Condition impedance model (4) produces new impedance model and exports force signal fm(t-2T)；
Step 4, the new main side position signalling xm(t-2T) formed newly from side after time delay communication link (5) time delay 1T
Position signalling xm(t-3T), the new environment impedance model exports force signal fm(t-2T) when time delay communication link (5) is formed
Prolong the output force signal f of the new environment impedance model after 1Tm(t-3T) in-position corrected Calculation link (7), it is described new from side position
Confidence xm(t-3T) enter revised formation from end ring border geometrical model (6) newly position signalling x is controlled from endc(t-3T), institute
State new from end control position signalling xc(t-3T) input makes from end robot (8) to move and produce new environment from end robot (8)
Position signalling xe(t-3T) true environment (9), is acted on, new true environment is produced and is exported force signal fe(t-3T) it is, described new true
Environment exports force signal fe(t-3T) in-position corrected Calculation link (7), position correction calculate link (7) according to through time delay
New environment impedance model output force signal f after time delay 1T after communication link (5)m(t-3T) and newly true environment power output is believed
Number fe(t-3T) export new adjustable gain Re(t-3T), described new adjustable gain Re(t-3T) after Introduced Malaria from end ring border
Geometrical model (6), it is revised from end ring border geometrical model (6) according to new adjustable gain Re(t-3T) correct newly several from end ring border
What model (6), by the revised new control for being used for next cycle from end ring border geometrical model (6)；
Step 5 return to step 1；
Repeat above step, realize from end ring border geometrical model (6) Step wise approximation main side environment geometrical model (3), and in fact
Existing Self Adaptive Control.
The adjustable gain ReT the production method of () is：
The true environment exports force signal fe(t), condition impedance model output force signal fmT (), position correction calculate ring
Section (7) control rate beβ represents ratio of profit increase, and e (t) represents generalized error, and concrete steps are such as
Under：
The first step, sets ratio of profit increase β=0.01 2；
Second step, according to the true environment output force signal f for being input to position correction calculating link (7)eT () and environment hinder
Anti- model exports force signal fmT (), obtains generalized error e (t)；
E (t)=fe(t)-fm(t)；
3rd step, using control rate formula, calculates Re(t)。
Beneficial effect：The present invention compared to existing technology, has the advantages that：
(1) present invention is effectively overcomed by way of approaching main side environment geometrical model from end ring border geometrical model
The instability problem that long time delay brings.
(2) present invention corrects true environment geometry by the difference of principal and subordinate end force feedback signal in remote control system
Model, promotes principal and subordinate's end ring border uniformity, improves the precise control of remote control system.
(3) control method of the present invention, little with amount of calculation, the low advantage of algorithm complex.
Description of the drawings
Fig. 1 is the present invention based on condition impedance model Teleoperation Systems control figure.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, further elucidate the present invention, it should be understood that these examples are merely to illustrate this
Invention rather than restriction the scope of the present invention, after the present invention has been read, those skilled in the art are various to the present invention's
The modification of the equivalent form of value falls within the application claims limited range.
A kind of time delay teleoperation robot adaptive control method based on condition impedance model, as shown in figure 1, including：
It is operator 1, main side robot 2, main side environment geometrical model 3, condition impedance model 4, time delay communication link 5, several from end ring border
What model 6, position correction calculates link 7, from end robot 8, true environment 9, condition impedance model 4 is consistent with true environment 9,
With from 6 existence position deviation of end ring border geometrical model, if t is the time variable of control system, T is main side environment geometrical model 3
The delay volume of communication time-delay link.
Under structured environment, it is known that time delay communication link 5 has time delay, if T is the delay volume that time delay communicates link 5, imitate
In true environment, T=1s, in structured environment, true environment impedance model is set in advance, can set up accurate condition impedance
Model 4, and there is error, from end ring border geometrical model 6 be in main side environment geometrical model 3 based on initial sensor detection setting
True environment geometrical model, therefore, main side environment geometrical model 3 with there is deviation, control process from end ring border geometrical model 6
In, it is by constantly adjustment adjustable gain parameter so that approach main side environment geometrical model 3 from end ring border geometrical model 6, final main
From end, geometrical model is all consistent with true environment model.
Comprise the following steps that：
Step 1, operator 1 send main side position signalling x by main side robot 2m(t), the main side position signalling xm
T () input main side environment geometrical model 3, then input environment impedance model 4, condition impedance model 4 produce impedance model output
Force signal fm(t), i.e.,
Wherein, fmT () represents impedance model output force signal, time variables of the t for control system, k are environmental model
Coefficient of elasticity, xmT () represents main side position signalling, surface geometry coefficients of the n for environmental model, model systems of the b for environmental model
Number,Represent xmT the derivative of (), the impedance model export force signal fm(t) shape after time delay communication 5 time delay 1T of link
Into fm(t-T) in-position corrected Calculation link 7.
Step 2, described main side position signalling xmT () forms from side position after time delay communication 5 time delay 1T of link and believes
Number xm(t-T) it is), described from side position signalling xm(t-T) enter from end ring border geometrical model 6 and formed from end control position signalling xc
(t-T), i.e.,
xc(t)=Re(t+T)xm(t),
Wherein, xcT () is represented from end control position signalling, Re(t+T) represent adjustable gain.
It is described to control position signalling x from endc(t-T) input makes from end robot 8 to move and produce ring from end robot 8
Border position signalling xe(t-T) true environment 9, is acted on, true environment output force signal f is producede(t-T), i.e.,
Wherein, feT () represents true environment output force signal, xeT () represents environment position signal.
The true environment 9 exports force signal fe(t-T) in-position corrected Calculation link 7, position correction calculate link 7
According to the f after time delay communication link 5m(t-T) and true environment 9 output force signal fe(t-T) export adjustable gain Re
(t-T), adjustable gain R is calculated in position correction link 7eT algorithm that () is adopted is the adaptive law based on gradient method, it is assumed that
Power output f of condition impedance model 4mT force signal f that () is exported with true environmenteThe difference of (t) be e (t), the adaptive law of employing
Forβ is regulation, and its span is 0.01-2, and in emulation, β=0.2 concrete steps are such as
Under：
The first step, sets ratio of profit increase β, if β=0.01 2,
Second step, calculates 7 two input f of link according to position correctione(t) and fmT (), obtains generalized error e (t),
E (t)=fe(t)-fm(t),
3rd step, using control rate formula, calculates Re(t)。
Adjustable gain Re(t-T) it is input into from end ring border geometrical model 6, from end ring border geometrical model 6 according to Re(t-T), correct
From end ring border geometrical model 6, obtain new from end ring border geometrical model 6, into the control in next cycle,
Step 3, operator 1 send new main side position signalling x by main side robot 2m(t-2T), the new main side position
Signal xm(t-2T) main side environment geometrical model 3 is input into, then input environment impedance model 4, condition impedance model 4 produces new resistance
Anti- model exports force signal fm(t-2T)。
Step 4, described new main side position signalling xm(t-2T) formed newly from side after time delay communication 5 time delay 1T of link
Position signalling xm(t-3T), the new environment impedance model exports force signal fm(t-2T) shape after time delay communication link 5 prolongs 1T
Force signal f is exported into new environment impedance modelm(t-3T) in-position corrected Calculation link 7 is described new from side position signalling xm
(t-3T), into newly forming new from end control position signalling x from end ring border geometrical model 6c(t-3T) it is, described new from end control bit
Confidence xc(t-3T) input makes from end robot 8 to move and produce new environment position signalling x from end robot 8e(t-3T), make
For true environment 9, produce new true environment and export force signal fe(t-3T), the new true environment exports force signal fe(t-
3T) in-position corrected Calculation link 7, position correction calculate link 7 according to the new environment impedance after time delay communication link 5
Model exports force signal fm(t-3T) and newly true environment exports force signal fe(t-3T) export new adjustable gain Re(t-3T), institute
The new adjustable gain R for statinge(t-3T) after Introduced Malaria from end ring border geometrical model 6, it is revised from end ring border geometrical model 6
According to new adjustable gain Re(t-3T) further corrected from end ring border geometrical model 6 to revised, and then will amendment
The new control for being used for next cycle from end ring border geometrical model 6 afterwards.
Step 5 return to step 1.
Circulated with this, realize from 6 Step wise approximation main side environment geometrical model 3 of end ring border geometrical model, and realize self adaptation
Control.
The present invention interacts force feedback by true environment and exports force signal with main side condition impedance model, is adaptively adjusted
Real end environment geometrical model state is (according to main side Modifying model from end environmental model, and defeated according to position correction adjust instruction
Go out), principal and subordinate's end ring border is finally reached unanimity, is fully overcome the negative influence of long time delay, is reached stable and accurate operation.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (2)
1. a kind of time delay teleoperation robot adaptive control method based on condition impedance model, including main side robot (2),
Main side environment geometrical model (3), condition impedance model (4), time delay communication link (5), from end ring border geometrical model (6), position
Corrected Calculation link (7), from end robot (8), true environment (9), condition impedance model (4) is consistent with true environment (9), leads
End ring border geometrical model (3) with from end ring border geometrical model (6) existence position deviation, if time variables of the t for control system, T
For the delay volume of communication time-delay link, it is characterised in that comprise the following steps：
Step 1, sends main side position signalling x by main side robot (2)m(t), the main side position signalling xmT () is input into respectively
Main side environment geometrical model (3), condition impedance model (4) and time delay communication link (5), condition impedance model (4) produce impedance
Model exports force signal fmT (), condition impedance model (4) are：
Wherein, fmT () represents impedance model output force signal, time variables of the t for control system, elasticity systems of the k for environmental model
Number, xmT () represents main side position signalling, surface geometry coefficients of the n for environmental model, b are the model coefficient of environmental model,
Represent xmThe derivative of (t)；
The impedance model exports force signal fmT () forms the impedance model for postponing 1T after time delay communicates link (5) time delay 1T
Output force signal fm(t-T) in-position corrected Calculation link (7)；
Step 2, the main side position signalling xmT () is formed from side position signalling x after time delay communication link (5) time delay 1Tm
(t-T), from side position signalling xm(t-T) enter from end ring border geometrical model (6) and formed from end control position signalling xc(t-T), from
End ring border geometrical model (6) is：
xc(t)=Re(t+T)xm(t)；
Wherein, xcT () is represented from end control position signalling, Re(t+T) represent adjustable gain；
It is described to control position signalling x from endc(t-T) input is made from end robot (8) motion and generation environment from end robot (8)
Position signalling xe(t-T) true environment (9), is acted on, true environment output force signal f is producede(t-T), the true environment
For：
feT () represents true environment output force signal, xeT () represents environment position signal；
The true environment exports force signal fe(t-T) in-position corrected Calculation link (7), position correction calculate link (7) according to
Force signal f is exported according to the impedance model after link (5) is communicated through time delaym(t-T) and true environment output force signal fe(t-T)
Output adjustable gain Re(t-T), described adjustable gain Re(t-T) it is input into from end ring border geometrical model (6), from end ring border geometry
Model (6) is according to adjustable gain Re(t-T) correct from end ring border geometrical model (6), by revised from end ring border geometrical model
(6) it is used for the control in next cycle；
Step 3, sends new main side position signalling x by main side robot (2)m(t-2T), the new main side position signalling xm(t-
2T) main side environment geometrical model (3), condition impedance model (4) and time delay communication link (5), condition impedance model is input into respectively
(4) produce new impedance model and export force signal fm(t-2T)；
Step 4, the new main side position signalling xm(t-2T) formed newly from side position after time delay communication link (5) time delay 1T
Signal xm(t-3T), the new environment impedance model exports force signal fm(t-2T) time delay 1T is formed through time delay communication link (5)
New environment impedance model output force signal f afterwardsm(t-3T) in-position corrected Calculation link (7), it is described new from side position letter
Number xm(t-3T) enter revised formation from end ring border geometrical model (6) newly position signalling x is controlled from endc(t-3T) it is, described new
From end control position signalling xc(t-3T) input makes from end robot (8) to move and produce new environment position from end robot (8)
Signal xe(t-3T) true environment (9), is acted on, new true environment is produced and is exported force signal fe(t-3T), the new true environment
Output force signal fe(t-3T) in-position corrected Calculation link (7), position correction calculate link (7) according to through time delay communication
New environment impedance model output force signal f after time delay 1T after link (5)m(t-3T) and newly true environment exports force signal fe
(t-3T) export new adjustable gain Re(t-3T), described new adjustable gain Re(t-3T) after Introduced Malaria from end ring border geometry
Model (6), it is revised from end ring border geometrical model (6) according to new adjustable gain Re(t-3T) amendment is newly from end ring border geometry mould
Type (6), by the revised new control for being used for next cycle from end ring border geometrical model (6)；
Step 5 return to step 1；
Repeat above step, realize from end ring border geometrical model (6) Step wise approximation main side environment geometrical model (3), and realize certainly
Suitable solution.
2. the time delay teleoperation robot adaptive control method based on condition impedance model according to claim 1, its
It is characterised by：The adjustable gain ReT the production method of () is：
The true environment exports force signal fe(t), condition impedance model output force signal fmT (), position correction calculate link
(7) control rate isβ represents ratio of profit increase, and e (t) represents generalized error, comprises the following steps that：
The first step, sets ratio of profit increase β=0.01 2；
Second step, according to the true environment output force signal f for being input to position correction calculating link (7)e(t) and condition impedance mould
Type exports force signal fmT (), obtains generalized error e (t)；
E (t)=fe(t)-fm(t)；
3rd step, using control rate formula, calculates Re(t)。
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| CN109333497A (en) * | 2018-11-30 | 2019-02-15 | 西华大学 | A kind of remote control system control method with virtual constraint power |
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Application publication date: 20170322 Assignee: Jiangsu Siming Engineering Machinery Co., Ltd. Assignor: Southeast University Contract record no.: 2019320000049 Denomination of invention: Time delay teleoperation robot adaptive control method based on environmental impedance model Granted publication date: 20190305 License type: Exclusive License Record date: 20190321 |