基于波的非线性机械臂双边遥操作及直接接触力反馈
Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback
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中文总结 AI 辅助
针对存在恒定通信延迟的非线性多自由度机械臂双边遥操作，采用LMI方法表征无源性短缺，通过严格无源通信律补偿以保证稳定性与同步性，经非线性2自由度机械臂仿真验证方法有效。
中文摘要 AI 辅助
我们研究存在恒定通信延迟的非线性多自由度机械臂间的双边遥操作问题。与传输协调力的经典波变换架构不同，我们考虑将环境力反馈至主端以提升遥操作透明度的情况。由于直接接触力反馈可能使闭环系统不稳定，我们首先采用线性矩阵不等式（LMI）方法对欧拉-拉格朗日远程系统建立无源性短缺表征。随后采用严格无源的通信律补偿计算出的无源性短缺，使得在合适条件下，延迟下的闭环稳定性以及位置与力同步性得以保持。对不同场景下的非线性2自由度机械臂进行的仿真验证了所提方法的有效性。
英文摘要
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.
发表机构
- HCMC University of Technology (HCMUT)（胡志明市理工大学）
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