基于时延预测的遥操作机器人预测显示方法

发布时间：2018-06-05 11:09

本文选题：大时变时延 + 遥操作　；参考：《机器人》2017年03期

【摘要】：为了解决大时变时延遥操作系统的预测显示问题,提出了一种基于时延预测的预测显示算法,该算法把时变时延在时间维度上对主从控制信号的拉伸和压缩作用看作是系统扰动,并利用时延在线预测结果对该扰动进行前馈补偿.首先,对基于预测显示的遥操作系统进行动力学建模,并计算出了包含时延扰动的预测显示机器人的期望控制量.然后,以时延组成最为复杂的空间遥操作系统为例,分析了遥操作系统通讯时延的产生机理,并根据其产生机理、模型和统计规律对通讯时延进行在线预测.最后,本文在理论上分析了利用时延预测结果对上述扰动进行补偿的可行性和有效性,并在理论验证遥操作平台上进行了对比实验.实验结果表明,在大时变时延下该算法的速度预测相对误差和接触力预测相对误差在误差峰值处分别比无时延预测的预测显示方法降低了30.9%和56%.
[Abstract]:In order to solve the problem of prediction and display of large time-varying time-delay remote operating system, a predictive display algorithm based on time-delay prediction is proposed. In this algorithm, the stretching and compressing of the master and slave control signals in time dimension is regarded as the disturbance of the system, and the disturbance is compensated by the time delay online prediction results. Firstly, the dynamic modeling of the teleoperation system based on predictive display is carried out, and the expected control quantity of the predictive display robot with delay perturbation is calculated. Then, taking the space teleoperation system with the most complex delay composition as an example, the mechanism of communication delay is analyzed, and the communication delay is predicted online according to its generation mechanism, model and statistical rule. Finally, the feasibility and effectiveness of compensating the above disturbances with the results of time delay prediction are analyzed theoretically, and a comparative experiment is carried out on the platform of theoretical verification. The experimental results show that the relative error of velocity prediction and the relative error of contact force prediction are reduced by 30.9% and 56%, respectively, at the peak of the error in the case of large time-varying time delay.
【作者单位】：中国科学院沈阳自动化研究所机器人学国家重点实验室;中国科学院大学;
【基金】：国家磁约束核聚变能发展研究专项(2012GB102005)
【分类号】：TP242

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