CN108500983B - Nonlinear teleoperation bilateral control system - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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Abstract
The invention belongs to the technical field of robot control. The invention discloses a nonlinear teleoperation bilateral control system, which solves the problem of control when a teleoperation system is interferedAnd (5) making a problem. The nonlinear teleoperation bilateral control system comprises an operator module, a host robot affected by interference, a host robot sliding mode controller, a communication channel, a slave robot affected by interference, a slave robot sliding mode controller and an environment module; position x of the master robot m Interaction force f between operator and host robot h Transmitting the data to a slave robot sliding mode controller through a communication channel; from position x of robot s Interaction force f between slave robot and environment e And feeding back to the main robot sliding mode controller through a communication channel. The invention can effectively solve the interference problem of the nonlinear teleoperation system and improve the position and force tracking performance of the teleoperation system.
Description
Technical Field
The invention belongs to the technical field of robot control, and relates to a nonlinear teleoperation bilateral control system. And more particularly to a master and slave robot bilateral control system affected by interference.
Background
The teleoperation system is widely applied to various environments which cannot be directly reached or entered by human beings, such as space and submarine exploration, minimally invasive surgery, excavation in buildings and forestry, nuclear waste management, mine removal, fire rescue, telemedicine, remote rehabilitation training and the like.
The literature [ "Sliding-mode controller for bilateral teleoperation with varying time delay" (J.H.park and H.C.cho, IEEE int.Conf.Adv.intellect Mech., atlanta, GA, USA, 1999:311-316) ] employs Sliding mode control at the slave robot end of a teleoperational system to enable position tracking of a master robot from the robot over a limited time. The literature [ "Olbserver-based sliding mode impedance control of bilateral teleoperation under constant unknown time delay" (Garcinia a-Valdovenos, L.G., V.Parra-Vega, and M.A.Arteaga, robot.Auton.Syst.,2007, 55 (8): 609-617) ] employs a sliding mode control method in combination with a full order Observer to ensure robust tracking of teleoperational systems. These are mainly directed to control of latency problems in teleoperated systems (either time-varying latency problems or unknown constant latency problems) and are not intended to suppress interference problems in the system, and the master and slave robotic controllers designed in these works do not have structural symmetry and similarity and thus do not facilitate analysis of the performance of the entire closed loop system at a later stage. However, the problem of disturbance experienced by teleoperated systems severely jeopardizes the tracking performance of their position and force.
Disclosure of Invention
The invention mainly aims to provide a nonlinear teleoperation bilateral control system so as to solve the control problem when the teleoperation system is interfered.
In order to achieve the above object, according to an aspect of the present invention, there is provided a nonlinear teleoperation bilateral control system, including an operator module, a master robot affected by interference, a master robot slipform controller, a communication channel, a slave robot affected by interference, a slave robot slipform controller, an environment module; position x of the master robot m Interaction force f between operator and host robot h Transmitting the data to a slave robot sliding mode controller through a communication channel; from position x of robot s Interaction force f between slave robot and environment e The communication channel is used for feeding back to the sliding mode controller of the main robot;
the controller of the main robot includes a position control part of the main robot
Gravity compensation term G of main robot m Compensation term-f for interaction force between operator and environment h Force control part K of host robot m M m (f h -f e )；
The host robot controller satisfies the relationship:
wherein M is m Is the inertia matrix of the host robot, B m G is centrifugal force and Coriolis force of the host robot m Is the gravity term of the host robot,
is the boundary of external interference suffered by the host robot, deltax m From robot position x s With the position x of the host robot m Is the difference of Deltax m ＝x s -x m ；s m Is from the difference between the robot speed and the host robot speed +.>
Plus lambda times the difference Deltax from the robot position to the master robot position m I.e. +.>
λ is a positive constant; k (K) m Is the positive constant of the force control gain of the host robot, sat (); f (f) h Is the interaction force between the operator and the host robot; f (f) e Is the interaction force between the slave robot and the environment.
It can be seen that the control force f is output by the master robot controller m The method comprises the following steps: inertia matrix M of main robot m Multiplying the positive constant λ by the difference between the slave robot speed and the master robot speed
Plus the slave robot acceleration->
Adding the centrifugal force and the Coriolis force B of the main robot to the product of m Speed of the host robot>
Is added with the boundary of external interference suffered by the main robot>
And saturation function sat(s) m ) Product (+)>
Is from the difference between the robot speed and the host robot speed +.>
Plus lambda times the difference Deltax from the robot position to the master robot position m ) Adding the gravity term G of the main robot m Subtracting the interaction force f between the operator and the host robot h Plus the positive constant K of the force control gain of the main robot m Multiplying the inertia matrix M of the master robot m Multiplying by interaction force f between operator and environment h Interaction force f with slave robot and environment e The product of the differences.
The slave robot controller includes a position control section of the slave robot
Gravity compensation term G of slave robot s Compensation term f for interaction force between slave robot and environment e Force control section K of slave robot s M s (f h -f e )；
The slave robot controller satisfies the relation:
wherein M is s B is inertia matrix of slave robot s G is centrifugal force and Coriolis force of slave robot s In order to obtain the weight term from the robot,
deltax is the boundary from the external disturbance to the robot s Is the master robot position x m And slave robot position x s Is the difference of Deltax s ＝x m -x s ；s s Is the difference between the master and slave robot speeds +.>
Plus lambda times the difference Deltax between master and slave robot positions s I.e. +.>
K s Is the positive constant of the force control gain from the robot.
Can seeOutput control force f output from robot controller s The method comprises the following steps: inertia matrix M of slave robot s Multiplying the normal number lambda by the difference between the master and slave robot speeds
Plus the acceleration of the main robot->
And the centrifugal force and the Coriolis force B of the slave robot are added s And slave robot speed->
Is added with the product of the external interference from the robot>
And saturation function sat(s) s ) Product (+)>
Is the difference between the master and slave robot speeds +.>
Plus lambda times the difference Deltax between master and slave robot positions s ) Adding the gravity term G of the slave robot s Adding an interaction force f between the slave robot and the environment e Plus a positive gain constant K for force control of the slave robot s Multiplying the inertia matrix M of the slave robot s Multiplying the interaction force f between the operator and the host robot h Interaction force f with slave robot and environment e The product of the differences.
Further, the master robot slipform controller structure has symmetry and similarity with the slave robot slipform controller structure.
The invention has the beneficial effects that the interference problem of the nonlinear teleoperation system can be effectively solved, and the position and force tracking performance of the teleoperation system can be improved.
The invention is further described below with reference to the drawings and detailed description. Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the specific embodiments, examples, and features thereof in the present application may be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings in conjunction with the following.
In order that those skilled in the art will better understand the present invention, a detailed description and a complete description of the technical solutions of the embodiments and examples of the present invention will be provided below with reference to the accompanying drawings in the embodiments and examples, and it is apparent that the described examples are only some examples of the present invention and not all examples. All other embodiments, examples, and implementations of what is known to those of ordinary skill in the art as being without undue burden are intended to be within the scope of the present invention.
As shown in FIG. 1, the nonlinear teleoperation bilateral control system comprises an operator module, a host robot affected by interference, a host robot sliding mode controller, a communication channel, a slave robot affected by interference, a slave robot sliding mode controller and an environment module; position x of the master robot m Interaction force f between operator and host robot h Transmitting the data to a slave robot sliding mode controller through a communication channel; from position x of robot s Interaction force f between slave robot and environment e Feedback to the main robot via the communication channelAnd a sliding mode controller. The master robot slipform controller structure has high symmetry and similarity with the slave robot slipform controller structure. The invention can effectively solve the interference problem suffered by the nonlinear teleoperation system, improves the position and force tracking performance of the teleoperation system, and is convenient for analyzing the position and force tracking performance of the whole system in the later period.
(1) The design of the main robot sliding mode controller is as follows:
operator and host machine
Interactive force compensation between->
Wherein M is m Is the inertia matrix of the host robot, B m G is centrifugal force and Coriolis force of the host robot m Is the gravity term of the host robot,
is the boundary of external interference suffered by the host robot, deltax m From robot position x s With the position x of the host robot m Is the difference of Deltax m ＝x s -x m ；s m Is from the difference between the robot speed and the host robot speed +.>
Plus lambda times the difference Deltax from the robot position to the master robot position m I.e. +.>
λ is a positive constant; k (K) m Is the positive constant of the force control gain of the host robot, sat (); f (f) h Is the interaction force between the operator and the host robot; f (f) e Is the interaction force between the slave robot and the environment;
the master robot slipform controller can be seen as consisting of four parts: position control part of main robot
Gravity compensation term G of main robot m Compensation term-f between interaction forces between operator and environment h Force control part K of host robot m M m (f h -f e )。
(2) The slave robot slipform controller is designed as follows:
slave robot and ring
Is compensated by the interaction force of (2)>
Wherein M is s B is inertia matrix of slave robot s G is centrifugal force and Coriolis force of slave robot s In order to obtain the weight term from the robot,
deltax is the boundary from the external disturbance to the robot s Is the master robot position x m And slave robot position x s Is the difference of Deltax s ＝x m -x s ；s s Is the difference between the master and slave robot speeds +.>
Plus lambda times the difference Deltax between master and slave robot positions s I.e. +.>
K s Is the positive constant of the force control gain from the robot.
The slave robot slipform controller also consists of four parts: position control part
Gravity compensation term G of slave robot s Compensation term f between interaction forces from robot and environment e Force control section K of slave robot s M s (f h -f e )。
Both the slave robotic slipform controller and the slave robotic slipform controller have a high degree of symmetry and similarity in structure. The first part of each controller can also be actually seen as a feedback law related to the speed and position tracking error between the master and slave robots, and plays a role of position feedback control; the second part is used for compensating the gravity of each part; the third part is used for compensating the respective interaction force; the fourth part is actually a feedback control law involving a force tracking error between the master and slave robots.
(3) Demonstration of slip-form controller position and force tracking performance
According to the designed master and slave robot sliding mode controllers, selecting the Lyapunov alternative function of the nonlinear teleoperation bilateral control system as follows:
and (3) derivative of V is obtained:
wherein d m And d s Representing the interference experienced by the master robot and the slave robot, respectively.
Due to inertia matrix M of robot m And M s Are positive definite matrices and therefore can be obtained:
wherein, eig min (-) represents the minimum eigenvalue of the corresponding matrix.
Further, since the description has been given above
Interference d to the master and slave robots, respectively m And d s The boundaries of (1) are: />
And->
Thereby, can obtain:
since V is positive and thus is fixed,
is negative and therefore V is bounded. Thus, the term Deltax when t.fwdarw.infinity is further obtained according to the Barbaat lements (J.J.E.Slotine, W.Li.Applied nonlinear control. Prentice-Hall, englewiod Cliff, NJ, 1991) m And 0. Further analyzing the whole closed loop system equation to obtain f when t → infinity h -f e And 0. Therefore, the nonlinear teleoperation bilateral control system can effectively solve the problem of interference suffered by the nonlinear teleoperation system, so that the slave robot can accurately track the position of the master robot, and an operator can accurately feel the interaction force of the environment and the slave robot. />
Claims (2)
1. A nonlinear teleoperation bilateral control system comprises an operator module, a host robot affected by interference, a slip-form controller of the host robot, a communication channel and a slave computer affected by interferenceRobot, slave robot slip-form controller and environment module; position x of the master robot m Interaction force f between operator and host robot h Transmitting the data to a slave robot sliding mode controller through a communication channel; from position x of robot s Interaction force f between slave robot and environment e The communication channel is used for feeding back to the sliding mode controller of the main robot;
the controller of the main robot includes a position control part of the main robot
Gravity compensation term G of main robot m Compensation term-f for interaction force between operator and environment h Force control part K of host robot m M m (f h -f e )；
The host robot controller satisfies the relationship:
wherein M is m Is the inertia matrix of the host robot, B m G is centrifugal force and Coriolis force of the host robot m Is the gravity term of the host robot,
is the boundary of external interference suffered by the host robot, deltax m From robot position x s With the position x of the host robot m Is the difference of Deltax m ＝x s -x m ；s m Is from the difference between the robot speed and the host robot speed +.>
Plus lambda times the difference Deltax from the robot position to the master robot position m I.e. +.>
Lambda is normalA number; k (K) m Is the positive constant of the force control gain of the host robot, sat (); f (f) h Is the interaction force between the operator and the host robot; f (f) e Is the interaction force between the slave robot and the environment;
the slave robot controller includes a position control section of the slave robot
Gravity compensation term G of slave robot s Compensation term f for interaction force between slave robot and environment e Force control section K of slave robot s M s (f h -f e )；
The slave robot controller satisfies the relation:
wherein M is s B is inertia matrix of slave robot s G is centrifugal force and Coriolis force of slave robot s In order to obtain the weight term from the robot,
deltax is the boundary from the external disturbance to the robot s Is the master robot position x m And slave robot position x s Is the difference of Deltax s ＝x m -x s ；s s Is the difference between the master and slave robot speeds +.>
Plus lambda times the difference Deltax between master and slave robot positions s I.e. +.>
K s Is the positive constant of the force control gain of the slave robot; />
Is the speed of the host robot,/->
Is from the robot speed +.>
Is the acceleration of the host robot,/->
Is the slave robot acceleration.
2. The nonlinear teleoperation bilateral control system of claim 1, wherein the master robot slipform controller structure has symmetry and similarity with the slave robot slipform controller structure to facilitate later analysis of the position and force tracking performance of the overall system.
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| CN110340894B (en) * | 2019-07-18 | 2020-10-16 | 浙江大学 | Teleoperation system self-adaptive multilateral control method based on fuzzy logic |
| CN112223286B (en) * | 2020-09-30 | 2022-08-05 | 齐鲁工业大学 | Method for controlling traction teleoperation of tail end of mechanical arm with non-uniform traction force |
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