基于时域无源性控制的六足机器人双边触觉遥操作

随着六足机器人研究工作的深入,针对其遥操作系统的开发面临诸多挑战.为了弥补松软接触条件对系统可控性及稳定性的影响,提出一种基于时域无源性控制(time-domain passivity control,TDPC)的六足机器人双边触觉遥操作方法.其主从两端采取位置-速度的交互模式,通过分析足-地柔性接触的作用机理,构建无源观测器和无源控制律以补偿足底滑移所导致环境系统的潜在有源性,采用速度跟踪模式设计基于触觉力反馈的系统控制架构,并利用Llewellyn准则确定控制律参数的稳定范围.最后,搭建半物理仿真实验平台并验证所提出的双边触觉遥操作方法在松软地形条件下能够保证六足机器人遥操作系统的稳定,且兼具较好的持续跟踪能力.

Bilateral haptic teleoperation of hexapod robot based on time-domain passivity control

With the depth of the research of hexapod robots, new challenges have arisen in terms of designing their teleoperation system. To compensate for the influence of the soft contact condition on the stability and controllability of the system, a bilateral haptic teleoperation scheme is proposed based on the time-domain passivity control(TDPC) approach. In the teleoperation system, an approximate coordination of position-velocity is established between the master robot and the slave hexapod. Through analysis of the interaction mechanic of flexible contact between the foot and ground, a passivity observer and a passivity controller are designed at the environment termination for eliminating the potential activity. Additionally, the control architecture of the teleoperation system is designed based on the difference of velocity tracking, and the difference is fed back to the operator in the form of haptic force. The stability of the controller parameters is shown via the Llewellyn''s criterion. Finally, a semi-physical simulation platform is developed. Experiments of the system demonstrate that the proposed method can ensure the stability of bilateral haptic teleoperation of hexapod robots with satisfactory tracking performance.