多自由度遥操作系统控制的波变量法

为了将波变量方法用于多自由度遥操作系统,提出了一种更具一般性的多自由度遥操作系统的波变换公式,并扩展了公式参数的选择原则.首先分析了波变量法的原理,并用波变换矩阵替换波阻抗常数b得到多自由度系统的波变换公式.然后从能量的角度分析了波阻抗矩阵的选择原则,根据此选择原则扩展了波阻抗矩阵的选择方法和矩阵之间的约束关系.接着基于耗散理论,分析了扩展的波阻抗矩阵的无源性.最后以3自由度主从遥操作系统为例,分别进行了仿真实验和机器人遥操作实验,实验结果表明所提出的波变换公式能够保证多自由度遥操作系统在时延条件下的稳定性.

Wave Variable Method for Multi-DOF Teleoperation System Control

To apply the wave variable method to multi-DOF(degree of freedom) teleoperation system,a more universal wave transform formula suitable for multi-DOF teleoperation system is proposed,and the principle of choosing parameters of the formula is extended.The theory of the wave variable method is analyzed,and the wave transform formula for multiDOF system is obtained by replacing the wave impedance constant b with wave impedance matrix.From the energy point of view,the selection principle of wave impedance matrix is analyzed,and then the choosing method and the constraint relation of the impedance matrixes are extended based on the selection principle.The passivity of the extended wave impedance matrix is analyzed based on the scattering theory.Taking a 3-DOF master-slave teleoperation system as example,simulation experiments and teleoperation experiments are conducted,and the experimental results show that the proposed wave transform formula can ensure the stability of the multi-DOF teleoperation system with time delays.