Position and Attitude Control Strategy of Spray-painting Robot Bilateral Teleoperation with Time-varying Delay
In the application of teleoperation technology in painting teaching task,it is necessary to ensure the synchronization of the position and attitude of master and slave robots.However,communication delay will bring instability to teleoperating system.A bilateral teleoperation control strategy for spraying robots in the working space is proposed.The predictor auxiliary models of the master and slave robots are established respectively,and the influence of time delay on the tracking performance of the system is reduced through the interconnection of the auxiliary models.The external force received by the master and slave robot is regarded as the external excitation of the semi-autonomous feedback loop,and the damping injection controller is configured to make the teleoperating system achieve robust stability.A Phantom Omni robot and Franka Panda robot are used to implement a teleoperation spray teaching experiment platform,and the control strategy is verified.The experiment results show that the proposed control strategy can synchronize the position and attitude of the master and slave when the slave robot is moving in free space with time-varying delay,and can realize the position and attitude tracking error bounding and effective force feedback when the slave robot is in contact with the environment.
万方数据
维普
