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针对目前解决遥操作系统网络变时延问题的控制方案存在稳定性与操作性间的矛盾、过于依赖被控对象模型精度和抗干扰性差等不足,提出了一种HSIC-Smith控制算法.首先,根据巡检小车典型的动态响应误差曲线,确定能恰当描述系统动态特性的特征模型;其次,在Smith预估原理的基础上,应用仿人智能控制算法对巡检小车不同的运动状态,采用开、闭环相结合的控制模式来减小Smith预估误差带来的影响,从而改善网络时延变化对巡检小车遥操作系统动态性能;最后,将该方案与常规的PID-Smith预估算法进行对比实验.实验结果表明:在存在网络变时延的条件下,谊方案能对巡检小车系统迅速、准确地遥操作控制,且对网络时延变化具有较强的适应性. 相似文献
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天地大时延严重破坏具有力反馈的空间遥操作机器人系统的稳定性和透明性;针对天地大时延和未知的从手操作环境,基于内模控制和自适应控制思想设计一种自适应内模控制器;推导从手环境参数辨识模型,基于带遗忘因子的递推最小二乘滤波辨识环境模型,并利用辨识信息构建自适应内模控制器;基于单参数SNPIDC算法分别设计主手和从手自适应控制器;大量的仿真结果证明,在设计的主从双边自适应内模控制器作用下,空间遥操作机器人系统稳定性好,对未知环境适应能力强,系统透明性好,阻抗匹配程度高,且操作人员临场感强。 相似文献
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面向多机器人遥操作的分布式预测图形仿真系统 总被引:3,自引:0,他引:3
在遥操作机器人系统中,由于存在通信传输时延,可能导致控制系统不稳定,从而降
低遥操作的效率和安全性.目前多采用预测仿真的方法来克服.在多机器人遥操作系统不但
要克服时延的影响,还要能控制机器人协调地完成遥操作任务.我们开发了一个面向多操作
者 多机器人遥操作的分布式预测图形仿真系统,实现了对多机器人遥操作系统的预测仿真
,多个操作者可以通过人机交互接口遥控各自的机器人,相互协调完成遥操作的任务.初步
的实验表明该系统能够克服时延的影响,并能实现多操作者 多机器人的协调遥操作.这对
空间站机器人科学实验、多航行器对接等方面的研究有理论参考价值. 相似文献
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《计算机应用与软件》2016,(6)
提出一个带力反馈的虚拟腹部外科手术系统,并重点研究及实现了基于表面网格模型的力反馈算法。为了提高系统的稳定性,使用基于线段与表面三角网格的碰撞检测方法;基于四阶Runge-Kutta方法的表面网格mass-spring模型进行变形仿真;基于力的广度优先传播来解决变形仿真的局部性。通过仿真实验验证了该原型系统可以实现与可变形的三维模型的实时力觉交互。最后,把该方法应用到虚拟腹部外科手术系统中,并实现带力反馈的手术仿真操作。 相似文献
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《Robotics and Autonomous Systems》2007,55(3):205-215
This paper proposes a stable control structure for the bilateral teleoperation of robots through Internet. The problem is motivated by the increasing use of the Internet as a communication channel. Internet has a time-varying delay which depends on factors such as congestion, bandwidth and distance. In this work, we propose a control structure for the teleoperation of a manipulator robot with force feedback. Such a control structure includes state controllers (placed on the local and remote sites) and a time-delay compensation, which modifies the delayed position command generated by the human operator using the force that he feels in such a delayed moment and the current force between the slave and the remote environment. In addition, the proposed control scheme is designed considering a model of the communication channel. Finally, experiments of bilateral teleoperation of robots through Intranet and Internet are shown to test the performance and stability of the designed teleoperation system. 相似文献
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This paper proposes a stable control scheme for teleoperation of mobile robots with visual feedback in presence of time-varying delay. The proposed control scheme is based on using a model of the human operator to combine (on the remote site) the velocity command generated by the human operator in a delayed time instant, the received information (which stimulates the operator) in such moment, and the current state of the remote site to set the velocity reference, which is applied to the mobile robot. In addition, the proposed control scheme does not modify the information sent from the remote site to the local site. On the other hand, the proposed scheme uses estimated parameters of the human operator and a fictitious force, which is calculated using data fusion from ultrasonic sensors and optical flow field taken from panoramic images. To illustrate the performance and stability of the proposed control structure, several teleoperation experiments between Argentina and Brazil linked via Internet are shown. 相似文献
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针对遥操作存在大延时和临场感缺失等问题,提出了一种融合多种技术的无时延感的空间遥控机器人实时共享控制系统;重点研究了融合双向力反馈、传感器局部自主控制、图形预显示和遥编程的无时延感遥操作技术;计算仿真实验验证了该系统及其技术的有效性。 相似文献
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This paper presents a passive control scheme for a force reflecting bilateral teleoperation system with a varying time communication delay. To improve the stability and performance of the system, the master and slave must be coupled dynamically via a transmission network through which the force and velocity are communicated bilaterally. However, the time delay caused by various factors, such as the transmission distance, network congestion, and communication bandwidth, is a long-standing impediment to bilateral control that can destabilize the system. In this study, we investigated how a varying time delay affects the stability of a teleoperation system. A new optimal adaptive approach based on a passive control scheme was designed bilaterally for both the master and slave sites. Extra variables were transmitted together with the wave variables in the scattering system. The proposed scheme achieved both passive control, and an acceptable tracking performance. The tracking performance was demonstrated using a computer simulation of varying time delays in a bilateral teleoperation system. 相似文献
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Effective haptic performance in teleoperation control systems can be achieved by solving two major problems: the time‐delay in communication channels and the transparency of force control. The time‐delay in communication channels causes poor performance and even instability in a system. The transparency of force feedback is important for an operator to improve the performance of a given task. This article suggests a possible solution for these two problems through the implementation of a teleoperation control system between the master haptic device and the slave mobile robot. Regulation of the contact force in the slave mobile robot is achieved by introducing a position‐based impedance force control scheme in the slave robot. The time‐delay problem is addressed by forming a Smith predictor configuration in the teleoperation control environment. The configuration of the Smith predictor structure takes the time‐delay term out of the characteristic equation in order to make the system stable when the system model is given a priori. Since the Smith predictor is formulated from exact linear modeling, a neural network is employed to identify and model the slave robot system as a nonlinear model estimator. Simulation studies of several control schemes are performed. Experimental studies are conducted to verify the performance of the proposed control scheme by regulating the contact force of a mobile robot through the master haptic device. 相似文献
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In teleoperation, a force feedback device is a medium to build a transparent interaction environment between a human and a remote robotic arm. Using force feedback devices, the users can operate the remote robotic arm intuitively and perceive remote interaction through the force channel, just as if they are in the remote environment. Compared with impedance devices, admittance devices have the advantages of large feedback output, high stiffness, high reverse driving performance, and flexible structure, which are more suitable for the teleoperation of heavy-duty and large-size robotic arms. However, the control of admittance devices is relatively complex and has some inherent limitations such as response delay, instability from high-frequency oscillation, difficulty in achieving constant speed control, etc. Errors in admittance model parameters and human physiological characteristics, such as force application fluctuations, are the root causes of these problems. In this study, we proposed a fuzzy variable damping admittance algorithm, which allows the device to identify the user's movement intention and give respond quickly and accurately. We also established a human-robot interaction (HRI) system model of an admittance master controller device and summarized the principles of the admittance parameter configuration of a stable system. For the device's high-frequency oscillation instability caused by human arm stiffness, we propose an oscillation observation and reduction algorithm. By observing the force signal change characteristics, the algorithm can quickly detect the unstable behavior caused by human hands and perform oscillation reduction. To reduce the influence on upper limb uniform motion caused by fluctuating force application, we proposed a constant velocity intention inference algorithm based on a velocity spherical cone to smooth out the device operating velocity to achieve smooth control. The method proposed in this study achieved stable control in a 6 DOF force feedback device as a master controller, and the effect has been verified by experiments. 相似文献
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Franco Penizzotto Emanuel Slawiñski Lucio R. Salinas Vicente A. Mut 《Advanced Robotics》2013,27(19):1253-1268
Teleoperation task performance strongly depends on how well the human operator’s commands are executed. In this paper, we propose a control scheme for delayed bilateral teleoperation of mobile robots that considers user’s commands execution in order to achieve a high-performance teleoperation system in some important aspects like time to complete the task, safety, and operator dependence. We describe some evaluation metrics that allow us to address these aspects and a quantitative metric is proposed and incorporated in the control scheme to compensate wrong commands. A force feedback is applied to the master at the local site as a haptic cue. In addition, the system stability is analyzed taking into consideration the master and remote robot dynamic models and the asymmetric time-varying delays of the communication channel. Multiple human-in-the-loop simulations were carried out and the results of the evaluation metrics were discussed. Additionally, we present experiments where a user teleoperates a mobile robot via the Internet connection between Argentina and Italy. 相似文献