A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects  

作　　者：Jinfei Hu Zheng Chen Xin Ma Han Lai Bin Yao 

机构地区：[1]State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China [2]IEEE [3]Ocean College,Zhejiang University,Zhoushan 316021 [4]the State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027 [5]Ocean Research Center of Zhoushan,Zhejiang University,Zhoushan 316021,China [6]School of Engineering Technology,Purdue University,West Lafayette,IN 47907 USA [7]Department of Mechanical and Automation Engineering,The Chinese University of Hong Kong,Hong Kong 999077,China [8]School of Mechanical Engineering,Purdue University,West Lafayette,IN 47907 USA

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第6期1015-1025,共11页自动化学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(52075476,92048302);Key R&D Program of Zhejiang Province(2021C03013)。

摘　　要：Currently,most teleoperation work is focusing on scenarios where slave robots interact with unknown environments.However,in some fields such as medical robots or rescue robots,the other typical teleoperation application is precise object transportation.Generally,the object’s weight is unknown yet essential for both accurate control of the slave robot and intuitive perception of the human operator.However,due to high cost and limited installation space,it is unreliable to employ a force sensor to directly measure the weight.Therefore,in this paper,a control scheme free of force sensor is proposed for teleoperation robots to transfer a weight-unknown object accurately.In this scheme,the workspace mapping between master and slave robot is firstly established,based on which,the operator can generate command trajectory on-line by operating the master robot.Then,a slave controller is designed to follow the master command closely and estimate the object’s weight rapidly,accurately and robust to unmodeled uncertainties.Finally,for the sake of telepresence,a master controller is designed to generate force feedback to reproduce the estimated weight of the object.In the end,comparative experiments show that the proposed scheme can achieve better control accuracy and telepresence,with accurate force feedback generated in only 500 ms.

关 键 词：Adaptive robust control TELEOPERATION TELEPRESENCE TRANSPARENCY weight estimation 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]