解决延迟下非线性机械臂远程操作的稳定性与透明度问题
Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback
- 用LMI方法分析系统被动性不足，设计补偿机制
- 在延迟条件下实现位置与力的同步，保持系统稳定
- 适合做高精度远程操控的机器人研究者参考
研究存在恒定通信延迟时，非线性多自由度机械臂之间的双边遥操作。不同于传统波变换架构中传递协调力的方式，本文考虑将环境力直接反馈至主端以提升遥操作透明度。由于直接接触力反馈可能导致闭环系统失稳，我们首先采用线性矩阵不等式（LMI）方法，对欧拉-拉格朗日远端系统进行被动性不足的表征。随后，引入上严格被动通信律，补偿计算出的被动性缺口，从而在适当条件下保证闭环系统在延迟下的稳定性，以及位置与力的同步性。不同设置下的非线性2-DOF机械臂仿真验证了该方法的有效性。
原文摘要 · Abstract (English)
We study bilateral teleoperation between nonlinear, multi-DOF robotic manipulators in the presence of constant communication delays. Unlike classical wave-transformation architectures that transmit a coordinating force, we consider the case where the environmental force is reflected to the master side to enhance teleoperation transparency. Since direct contact force feedback might destabilize the closed-loop system, we first develop a passivity-shortage characterization for the Euler--Lagrange remote system using a linear matrix inequality (LMI) approach. An upper strictly passive communication law is then employed to compensate for the computed passivity shortage so that the closed-loop stability under delays as well as position and force synchronization are preserved under appropriate conditions. Simulations with nonlinear 2-DOF robotic manipulators in different settings illustrate our approach.
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