The Bilateral Control Of Teleoperationbased On Predictive Forcefeedback

With the development of space exploration, teleoperation technology will play an increasing role. Bilateral control technology is one of the three main methods of teleoperation technology, which can be applied to unstructured, unknown advantages from the end of the environment, has become a research hotspot in recent years. But because of delay, it is hard for the bilateral control technology to ensure the stability of the system at the same time to meet the higher transparency. Application of prediction method in teleoperation system, can effectively reduce the effect of time delay on the performance of the system. In reference on the basis of former research, this paper mainly discusses bilateral teleoperation control method for in-depth research, and combining the predictive control method, guaranteeing the stability and increasing the transparency of bilateral control system. The main works of this dissertation are as follows:First of all, the bilateral PD control method and bilateral impedance control method is studied. The stability and transparency of two kinds of control methods are analyzed respectively, and boundary condition to ensure the stability of the system is derived. Finally, the simulation experiments are completed. The advantages and disadvantages of two control methods are obtained fromthe experimental results.Secondly, the bilateral force feedback predictive control method is proposed. Through the recursive least squares method with forgetting factor to predict the contact force from the slave, and correct master receiving feedback force on real-time. The stability of the system is construed withusing the theory of absolute stability criteria and the transparency conditions of the teleoperation system based on force feedback predictive control method are analyzed, through the simulation experiment.Finally, the bilateral control of teleoperation experiments completed. In combination with the existing equipment in the laboratory, the master and slave teleoperation system with communication link is established. On this basis, the bilateral control method is applied to physical platform.Through the analysis of experimental results, it can be verified that the bilateral force feedback predictive control method can improve the transparency of teleoperation system.