论文标题
无力传感器的双边远程操作控制具有任意缩放的不同主奴隶系统
Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master-Slave System with Arbitrary Scaling
论文作者
论文摘要
这项研究设计了一个高精度的双边远程操作控制，以实现不同的主奴隶系统。所提出的非线性控制设计利用了一种基于新型子系统 - 系统控制方法，该方法允许在子系统级别上为本地的操作器设计基于单个（分散的）模型的控制器。非常重要的是，人类操作员的动态模型被纳入了主操作器的控制中。不同的主机和从属操纵器的单个控制器在双边远距离操作的特定通信通道中连接到功能。通过任意时间延迟，严格保证整体控制设计的稳定性。这项研究的新功能包括针对远程操作系统的完全无力传感器的设计，并提供了用于独特的计算代数环的解决方案，一种估计操作员的外源性运营力的方法以及使用商业触觉操纵器。最重要的是，我们以2个自由度（DOF）的不同系统进行实验。为了说明拟议系统的性能，在实验中使用了高达800的力缩放系数，位置缩放系数最高为4。实验结果表明了出色的跟踪性能，从而验证了所提出概念的现实性能。
This study designs a high-precision bilateral teleoperation control for a dissimilar master-slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of individual (decentralized) model-based controllers for the manipulators locally at the subsystem level. Very importantly, a dynamic model of the human operator is incorporated into the control of the master manipulator. The individual controllers for the dissimilar master and slave manipulators are connected in a specific communication channel for the bilateral teleoperation to function. Stability of the overall control design is rigorously guaranteed with arbitrary time delays. Novel features of this study include the completely force-sensor-less design for the teleoperation system with a solution for a uniquely introduced computational algebraic loop, a method of estimating the exogenous operating force of an operator, and the use of a commercial haptic manipulator. Most importantly, we conduct experiments on a dissimilar system in 2 degrees of freedom (DOF). As an illustration of the performance of the proposed system, a force scaling factor of up to 800 and position scaling factor of up to 4 was used in the experiments. The experimental results show an exceptional tracking performance, verifying the real-world performance of the proposed concept.
