Telemanipulation of cooperative robots: a case of study

This article addresses the problem of dexterous robotic grasping by means of a telemanipulation system composed of a single master and two slave robot manipulators. The slave robots are analysed as a cooperative system where it is assumed that the robots can push but not pull the object. In order to achieve a stable rigid grasp, a centralised adaptive position-force control algorithm for the slave robots is proposed. On the other hand, a linear velocity observer for the master robot is developed to avoid numerical differentiation. A set of experiments with different human operators were carried out to show the good performance and capabilities of the proposed control-observer algorithm. In addition, the dynamic model and closed-loop dynamics of the telemanipulation is presented.     

Dual arm coordination and control

A generalized master/slave technique and experimental results for coordinated control of two arms rigidly grasping an object is described in this paper. Usually master/slave refers to the case when one arm is controlled in position mode while the second arm is controlled in force mode. In generalized master/slave control, each arm at its tool frame has six degrees of freedom; each degree of freedom can be in either position or force control mode. An interactive program has been developed to allow a user the flexibility to select appropriate control modes for a given experiment. This interface also allows for control gain adjustments. This paper presents the results of several experiments performed on this system to demonstrate its capabilities such as transporting an object with or without induced internal forces and movement of a constrained object. The system is further developed to achieve a so-called shared control mode in which an operator species the free motion trajectory for a point on the object of manipulation via a joystick while the autonomous control system is used for coordination and control of the arms.     

An Adaptive Control Technique for Motion Synchronization by On-line Estimation of a Recursive Least Square Method

This article presents an adaptive technique to tune controller gains for the motion synchronization of two gimbal systems by using a recursive least square method in the real-time fashion. In the master-slave configuration, the slave gimbal system follows the master’s motion while the master tracks the reference. In order for the slave gimbal system to synchronize with the motion of the master gimbal system, the dynamic difference between two systems is compensated by the controller gains. The controller gains of the slave are adaptively adjusted by the recursive least square method to cope with the deviation. The performances of three control schemes such as an independent PD control, a dependent torque control, and an RLS torque control scheme are evaluated by the experimental studies for the low cost gimbal systems. Experimental studies confirm that the RLS-based adaptive scheme actually outperforms by adjusting controller gains for the motion synchronization of the master and slave configuration.     

Neural network-based Smith predictor design for the time-delay in a tele-operated control system

This article presents a methodology for compensating for the time-delay effects in tele-operated control systems. Compensation can be carried out by a neural network. A tele-operated system consists of a master robot to give commands, and a slave robot to work with the environment. The positional command by the master robot is transferred to the slave robot, and the contact force from the environment is transferred back to the master robot. The structure of the Smith predictor is modified by replacing the linear estimator with a neural network whose structure is based on the radial basis function (RBF). The RBF network identifies the slave model to deal with the nonlinearities in the system. Simulation studies have been conducted, and experimental studies of one-directional force control were performed to confirm the simulation results.     

新型联动报警系统

提出对传统报警系统改进的办法:用PC机作为主机,用AT89S52单片机作为从机,采用RS485总线型网络系统。该系统的特点:(1)不仅主机可以呼叫从机,从机在必要时可以主动呼叫主机,避免了从机只能等待主机轮询访问的弊端,从而提高了系统实时性和可靠性;(2)由于报警的时间毕竟很少,因此没有必要让主机无休止地轮询访问各个从机。而且轮询的方式效率很低,主机未必能从多台从机中立刻定位到报警的那台从机。     

分布式数控标记机系统通信接口的实现

文章介绍了由单片机构成的从机控制系统硬件结构，重点论述了由PC主机与从机之间通信接口的实现。     

A novel adaptive bilateral control scheme using similar closed‐loop dynamic characteristics of master/slave manipulators

This article presents a novel adaptive bilateral control scheme for obtaining ideal responses for teleoperation systems with uncertainties. A condition that is equivalent to getting an ideal response in teleoperation has been found to be making the closed‐loop dynamics of master and slave manipulators a similar form. An adaptive approach is applied to achieve similarity for the uncertain master and slave manipulators. Using the similar closed‐loop dynamic characteristics of master/slave teleoperation systems, excellent position and force tracking performance has been obtained without estimating the impedance of human and environment. The validity of the theoretical results is verified by experiments. © 2001 John Wiley & Sons, Inc.     

A delayed force-reflecting haptic controller for master–slave neurosurgical robots

This paper presents a new force-reflecting control system for master–slave haptic devices. This controller has been implemented and tested on the robotic systems for minimally invasive neurosurgery developed by our Research Group. Robot-assisted surgery is a very valuable treatment, since it allows benefits of high precision, accuracy, and repeatability of robotic devices. The proposed controller is meant to be used for master–slave haptic robotic surgery, but it can be used for any device that provides haptic feedback. The new controller merges the paradigms of force reflection (FR) control and delayed reference control. Unlike the FR control, the proposed solution enhances the safety since it does not allow an unwanted motion of the slave device once the operator releases the haptic controller. Experimental tests are provided to show the capabilities and the performance of the controller. Closed-loop stability is investigated both theoretically and experimentally. The analytic results on stability impose a limit on the ratio between the measured contact force and the sampling frequency of the closed-loop controller.     

Computer generation of symbolic kinematics for robot manipulators

Computer generation of symbolic solutions for the direct and inverse robot kinematics is a desired capability not previously available to robotics engineers. In this article, we present a methodology for the design of a software system capable of solving the direct and inverse kinematics for n degree of freedom (dof) manipulators in symbolic form. The inputs to the system are the Denavit-Hartenberg parameters of the manipulator. The outputs of the system are the direct and inverse kinematics solutions in symbolic form. The system consists of a symbolic processor to perform matrix and algebraic manipulations and an expert system to solve the class of nonlinear equations involved in the solution of the inverse kinematics problem. The system can be used to study robot kinematics configurations whose inverse kinematics solutions are not known to exist a priori. Two examples are included to illustrate its capabilities. The first example provides explicit analytical solutions, previously believed nonexistent, for a 3 dof manipulator. A second example is included for a robot whose inverse kinematics solution requires intensive algebraic manipulations.     

中密度纤维板集散控制系统的上下位机通信

研究了在中密度纤维板（MDF）集散控制系统中上下位机的通信实现问题，并阐述了系统硬件组成和通信原理。根据中密度纤维板（MDF）控制过程的实际特点，基于OPC数据服务器，经由Fins Gate Way、Control Link网卡，实现了上位机的Kingview6．5组态软件与下位机的Omron PLC的数据通信。在实际控制系统的应用中数据传输安全可靠，提高了系统的控制精度，使控制过程更为方便灵活。     

Master-slave intelligent robot telepresence system

In this paper, the analysis and design of master-slave intelligent robot telepresence system are discussed. When the operator acts on the master manipulator, the position and attitude information of the master manipulator are gathered by the computer. After calculating and coordinate transforming, the data are send to the computer of the slave manipulator. Then the slave manipulator-PUMA562 robot follows the master manipulator's movement precisely. Six-dimension force/toque sensor(lord cell) is mounted on the slave manipulator. As the master manipulator and the toque on the slave manipulator are different in structure, the force and the slave manipulator should be send to the master manipulator computer and dissociated by the master manipulator computer. Proper ratio of the force on the master manipulator and the force on the slave manipulator is selected, and distribute to the master manipulator joints. So that the operator could feel the force from the master manipulator, which is obtained by the motors of the joints. The proposed control scheme is introduced to a prototype master-slave system and the experimental results show the validity of the proposed scheme.     

The suitability for master/slave concurrency of concurrent euclid,ada and modula

The suitability of Concurrent Euclid, Ada and Modula for a special form of asynchronous concurrency, called master/slave concurrency, is investigated. No language is ideal, with Concurrent Euclid and Modula having major drawbacks. The conclusion lists the features desirable in a language for master/slave concurrency.     

基于模糊控制的无线温控系统设计

介绍了一种利用模湖控制器实现无线温度控制系统的设计方案.此方案以上业川电阻炉为控制对象,下位机将PT100测量温度反馈量无线传送给上位机,上位机采用模糊控制算法,将控制输出量以无线通信的方式传送给下位机,构成闭环控制系统.其中执行机构以PwM输出方式对电阻炉温度进行控制.     

遥控系统理想性能的实现和实验研究

本文对主从遥控系统理想性能的实现进行了理论分析和实验研究。对于位置／力控制的遥控机器人，理想性能就是要实现主从操作器的位置跟踪和力跟踪。文中首先通过分析得到了一组控制规律，利用这组控制规律就可以实现理想性能，而且这组控制规律由于引入了力微分信号而比较简单。接着以无源性为基础，对系统的稳定性进行了研究。最后通过实验可知在从操作器同环境有或无作用的情况下，主从遥控系统都可以实现理想性能。     

基于Profibus—DP现场总线的自动化生产线实训装置改造

提出了一种基于Profibus—DP现场总线通信改造自动化生产线实训装置方案,以S7—300PLC为一级主站,触摸屏TP170B为二级主站,S7—200PLC、变频器MM420、ET200M为从站,介绍了主站PLC与各从站的通信方法。     

不确定Van der Pol混沌系统的模糊同步控制

本文研究了不确定Van der Pol混沌系统的同步问题,并进行了基于规则的模糊逻辑控制器(FLC)的控制。首先寻找主从Van der Pol混沌系统满足Lyapunov稳定性理论的条件,在此基础上建立模糊规则,设计模糊控制器,实现不确定混沌系统的同步。通过不确定VanderPol混沌系统的两组仿真结果,验证了模糊同步控制方法具有很好的鲁棒性。最后为了进一步验证该方法的有效性,本文在相同条件下,利用反馈控制的方法实现不确定主从VanderPol混沌系统的同步,然后再将此方法的仿真结果与本文的模糊同步控制方法的仿真结果在稳态误差及同步所需时间这两个方面进行对比分析。分析结果验证了本文同步方法的可行性及有效性。     

Generalized control method by state convergence for teleoperation systems with time delay

In this paper a generalized design and control method for teleoperation systems with communication time delay is presented. The design method is based on the state space formulation and it allows to obtain the control parameters for any teleoperation system where the master and the slave manipulators would be represented by nth-order linear differential equations. Through state convergence between the master and the slave, the control system allows the slave to follow the master inspite of the time delay. The method is also able to establish the desired dynamics of this convergence and the dynamics of the slave manipulator. Experimental results are presented showing the validity of the proposed design and control method.     

基于单片机的主从式声音导引系统

声音导引在生命探测与定位中具有重要的现实意义,本文以单片机为核心,基于无线传输理论,设计制作了一声音导引系统。系统含一个以车载移动声源为核心的主机系统和一个以声音接收器为核心的从机系统。主从机均采用STC89C52单片机作为控制核心,从机通过声控电路接收来自主机的声音信号,根据两个接收器接收到的信号的时间差来判断声源位置,然后将此位置信息通过无线方式传送给主机,主机据此控制电机的运转,使之运动到目标位置。实验证明,系统结构简单可靠,性能良好,并且集高可靠性、高性价比及低功耗于一身。     

DeviceNet配置监控系统

设计并实现了基于DeviceNet主从站配置的监控系统. 监控系统中的DeviceNet配置监控软件使用自定义协议通过串口实现了与主站通讯模块通信, 将主从站的各种信息, 如主从站配置, 从站参数值等数据传递到通讯模块上. 主站通讯模块通过标准的DeviceNet协议将上述信息传送到从站模块. 监控软件可以实时请求并获取从站信息, 并做出相应处理. 实验结果表明, 所涉及的数据通讯完全满足DeviceNet规范要求, 配置软件能够配置和监控DeviceNet总线通讯状况.     

实时监护系统的设计与实现

介绍了一种由主站控制多个从站的输液注射实时监护系统。主站通过RS485接口与各从站连接,从站采用MSP430F1222微处理器设计。该系统实现了点对多点的输液注射过程的自动监控。从站的信号传感方式采用了红外光电传感器,通过软硬件滤波消除杂散光干扰;原始信号的处理采用锁相环(PLL)倍频技术以提高系统的控制速度;而对注射速度的控制则采用改变滴管夹紧度的方法以提高系统的控制精度。主站则通过菜单方式的人机交互界面对各个从站进行实时监控。