基于力估计与切换控制的六足机器人三边遥操作

传统三边遥操作系统的力传感器对主从端交互力进行测量时局限性较大,且在共享权重切换时易导致系统不稳定,本文设计基于力估计与权重切换控制的六足机器人三边遥操作控制架构。 针对系统各端口交互力信息缺失的问题,设计一种非线性交互力估计器,实现对各端口间交互力的实时估计。 聚焦双操作者控制权重动态调整过整中的柔顺切换问题,本文基于共享控制策略,设计权重因子自适应切换算法。 为保证所提出系统的稳定性及透明度,融合力估计器及权重切换算法,设计遥操作系统的控制器。 通过力反馈设备分别和 Vortex 与 ElSpider 六足机器人搭建半物理仿真平台与实物实验平台,对本文提出控制方法进行验证。 相对于传统三边遥操作,实验表明在平坦地形下速度跟踪性提高了 45. 12% ,力跟踪提高了 64. 71% ;在崎岖地形下速度跟踪提高了 39. 02% ,力跟踪提高了 29. 41% 。

Trilateral teleoperation of hexapod robot based on force estimation and switching control

The force sensor of the traditional trilateral teleoperation system has large limitation in measuring the interaction force of themaster and slave. It is easy to cause system instability when the shared weight is switched. In this article, a trilateral teleoperationcontrol architecture of the hexapod robot is designed, which is based on force estimation and weight switching control. A nonlinearinteraction force estimator is designed to estimate the interaction force between ports in real time. An adaptive switching algorithm for theweight factors is designed, which is based on the shared control strategy to focus on the compliant switching problem in the dynamicadjustment of the weight of two operators. To ensure the stability and transparency of the proposed system, the controller of theteleoperation system is designed by combining the force estimator and the weight switching algorithm. The force feedback device andVortex and ElSpider hexapod robots are respectively used to establish a semi-physical simulation platform and a physical experimentplatform to evaluate the proposed control method. Compared with the traditional trilateral teleoperation, experimental results show thatthe speed tracking performance is improved by 45. 12% and the force tracking performance is improved by 64. 71% on flat terrain. Inrugged terrain, the speed tracking is improved by 39. 02% and the force tracking is improved by 29. 41% .