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提出一种基于预测显示的时变大时延空间遥操作控制方法.将空间遥操作系统分为多个交互的子系统,首先设计一种无源-滤波算法保证通迅环节子系统的无源稳定性.然后对主端虚拟现实机器人和从端真实机器人动力学的重力项进行补偿,并对从端机器人的关节力矩控制设计了一种PD控制律.最后从理论上证明了整个遥操作互联系统的Lyapunov稳定性.该稳定性不依赖于系统动力学建模精度.搭建了空间遥操作地面仿真实验平台,通过实验证明了该方法在时变大时延条件下保证系统稳定性,提高操作者视觉临场感方面的有效性.
This paper proposes a remote control method based on the prediction of time-varying and large-delay space.This thesis divides the space teleoperation system into several interactive subsystems. Firstly, a passive-filter algorithm is designed to ensure the passive Stability.And then, the gravity of the master virtual robot and the slave real robot are compensated and a PD control law is designed for the slave robot’s joint torque control.Finally, it is proved theoretically that the entire teleoperation interconnection And the Lyapunov stability of the system.The stability does not depend on the modeling accuracy of the system dynamics.The experimental platform of the ground telecontrol simulation is set up and the experiment proves that this method can ensure the stability of the system under the time- The visual presence is effective.