面向空间遥操作的非对称双人共享控制及其性能分析
收稿日期: 2015-03-02
修回日期: 2015-07-28
网络出版日期: 2015-08-28
基金资助
国家自然科学基金(11272256,61005062,60805034)
Asymmetric dual-user shared control method and its performance analysis for space teleoperation
Received date: 2015-03-02
Revised date: 2015-07-28
Online published: 2015-08-28
Supported by
National Natural Science Foundation of China(11272256,61005062,60805034)
面向复杂操控任务的多人/机遥操作技术是未来空间遥操作的发展趋势之一。在综述目前双主单从的遥操作控制模式的基础上,提出一种面向空间遥操作的非对称双人共享控制方法。首先,通过分析理想双主单从遥操作系统模型,并对优势因子进行区分,建立了时延影响下的非对称双主单从共享控制系统模型;然后,利用传递阻抗、可达阻抗范围、性能表现距离和传递阻抗比等函数对系统的性能指标进行评价分析,并给出优势因子、控制阻抗和环境阻抗等参数对系统运动学性能的影响;最后,对所提出的方法进行仿真和实验验证,结果表明相比于传统控制方法,非对称双人共享控制具有较好的透明性和抗时延影响特性。
鹿振宇 , 黄攀峰 , 戴沛 . 面向空间遥操作的非对称双人共享控制及其性能分析[J]. 航空学报, 2016 , 37(2) : 648 -661 . DOI: 10.7527/S1000-6893.2015.0211
The technique of multi-master multi-salve teleoperation is one of future space teleoperation tendencies. After summarizing the current studies about dual-master single slave teleoperation control mode, we propose a kind of asymmetric dual-user shared teleoperation method for space manipulation. Firstly, we analyze the ideal transparency of dual-user teleoperation, discriminate the difference of multi-dominant parameters and build the model of asymmetric dual-user teleoperation system under the influence of delay. Then the functions of transparency transfer, range of achievable impedance, performance distance and transmitted impedance rate are built to compare and analyze the influence of dominant parameters, control impedance and environment impedance to the kinesthetic performance of dual-user teleoperation. Finally, the simulations and experiments are taken to certify the effectiveness of the proposed method. The simulation results represent that the transparency and the anti-delay performance of the asymmetric dual-user shared control method are better than the traditional method.
[1] 李成, 梁斌. 空间机器人的遥操作[J]. 宇航学报, 2001, 22(1):95-98. LI C, LIANG B. Teleoperation of space robotics[J]. Journal of Astronautics, 2001, 22(1):95-98(in Chinese).
[2] 丁炳源, 黄攀峰, 刘正雄, 等. 速度型虚拟夹具辅助空间遥操作技术研究[J]. 航空学报, 2013, 34(6):1436-1444. DING B Y, HUANG P F, LIU Z X, et al. Research on space teleoperation technology assisted with velocity-based virtual fixture[J]. Acta Aeronautica et Astronautica Sinica, 2013, 34(6):1436-1444(in Chinese).
[3] SANCHEZ L A, LE M Q, LIU C, et al. The impact of interaction model on stability and transparency in bilateral teleoperation for medical applications[C]//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE Press, 2012:1607-1613.
[4] HOKAYEM P F, SPONG M W. Bilateral teleoperation:An historical survey[J]. Automatica, 2006, 42(12):2035-2057.
[5] 景兴建, 王越超, 谈大龙. 遥操作机器人系统时延控制方法综述[J]. 自动化学报, 2004, 30(2):214-223. JING X J, WANG Y C, TAN D L. Control of time delayed tele-robotic systems:Review and analysis[J]. Acta Automatica Sinica, 2004, 30(2):214-223(in Chinese).
[6] ALDANA C, NUNO E, BASANEZ L. Bilateral teleoperation of cooperative manipulators[C]//Proceedings of IEEE International Conference on Robotics and Automation(ICRA). Piscataway, NJ:IEEE Press, 2012:4274-4279.
[7] FRANCHI A, SECCHI C, SON H I, et al. Bilateral teleoperation of groups of mobile robots with time-varying topology[J]. IEEE Transactions on Robotics, 2012, 28(5):1019-1033.
[8] NUDEHI S S, MUKHERJEE R, GHODOUSSI M. A shared-control approach to haptic interface design for minimally invasive telesurgical training[J]. IEEE Transactions on Control Systems Technology, 2005, 13(4):588-592.
[9] CARIGNAN C R, KREBS H I. Telerehabilitation robotics:Bright lights, big future?[J]. Journal of Rehabilitation Research and Development, 2006, 43(5):695-710.
[10] GUPTA A, MALLEY M O. Design of a haptic arm exoskeleton for training and rehabilitation[J]. IEEE/ASME Transaction Mechatronics, 2006, 11(3):280-289.
[11] 刘霞. 遥操作系统的控制结构与控制方法综述[J]. 兵工自动化, 2013, 32(8):57-63. LIU X. Survey of control architectures and control method of teleoperation system[J]. Ordnance Industry Automation, 2013, 32(8):57-63(in Chinese).
[12] KIM W S. Shared compliant control:A stability analysis and experiments[C]//Proceedings of IEEE International Conference on Systems, Man and Cybernetics. Pisacataway, NJ:IEEE Press, 1990:620-623.
[13] KHADEMIAN B, HASHTRUDI-ZAAD K. A four-channel multilateral shared control architecture for dual-user teleoperation systems[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ:IEEE Press, 2007:2660-2666.
[14] KHADEMIAN B, HASHTRUDI-ZAAD K. Dual-user teleoperation systems:New multilateral shared control architecture and kinesthetic performance measures[J]. IEEE/ASME Transactions on Mechatronics, 2012, 17(5):895-906.
[15] KHADEMIAN B, HASHTRUDI-ZAAD K. Novel shared control architectures for enhanced users' interaction in haptic training simulation systems[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ:IEEE Press, 2009:886-892.
[16] KHADEMIAN B, HASHTRUDI-ZAAD K. Unconditional stability analysis of dual-user teleoperation systems[C]//Proceedings of IEEE Haptics Symposium. Piscataway, NJ:IEEE Press, 2010:161-166.
[17] KHADEMIAN B, HASHTRUDI-ZAAD K. A robust multilateral shared controller for dual-user teleoperation systems[C]//Proceedings of IEEE Canadian Conference on Electrical and Computer Engineering. Piscataway, NJ:IEEE Press, 2008:1871-1876.
[18] RAZI K, HASHTRUDI-ZAAD K. Analysis of coupled stability in multilateral dual-user teleoperation systems[J]. IEEE Transactions on Robotics, 2014, 30(3):631-641.
[19] LI J, TAVAKOLI M, HUANG Q. Absolute stability of multi-DOF multi-lateral haptic systems[J]. IEEE Transactions on Control System Technology, 2014, 22(6):2319-2328.
[20] SHAHBAZI M, TALEBI H A, TOWHIDKHAH F. A robust control architecture for dual user teleoperation system with time-delay[C]//Proceedings of IEEE IECON 36th Annual Conference on Industrial Electronics Society. Piscataway, NJ:IEEE Press, 2010:1419-1423.
[21] SHAHBAZI M, TALEBI H A, ATASHZAR S F, et al. A novel shared structure for dual user systems with unknown time-delay utilizing adaptive impedance control[C]//Proceedings of IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE Press, 2011:2124-2129.
[22] SHAHBAZI M, TALEBI H A, ATASHZAR S F, et al. A new set of desired objectives for dual-user systems in the presence of unknown communication delay[C]//Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Piscataway, NJ:IEEE Press, 2011:146-151.
[23] SHAHBAZI M, TALEBI H A, YAZDANPANAH M J. A control architecture for dual user teleoperation with unknown time delays:A sliding mode approach[C]//Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Piscataway, NJ:IEEE Press, 2010:1221-1226.
[24] MALYSZ P, SIROUSPOUR S. Nonlinear and filtered force/position mappings in bilateral teleoperation with application to enhanced stiffness discrimination[J]. IEEE Transactions on Robotics, 2009, 25(5):1134-1149.
/
| 〈 |
|
〉 |
CJA