时变时延下喷涂机器人双边遥操作位姿控制策略  

Position and Attitude Control Strategy of Spray-painting Robot Bilateral Teleoperation with Time-varying Delay

作　　者：刘亚军 訾斌[1,2] 潘敬锋 钱森 LIU Yajun;ZI Bin;PAN Jingfeng;QIAN Sen(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009;Intelligent Interconnected Systems Laboratory Anhui Province,Hefei University of Technology,Hefei 230009)

机构地区：[1]合肥工业大学机械工程学院,合肥230009 [2]智能互联系统安徽省实验室,合肥230009

出　　处：《机械工程学报》2024年第11期226-236,共11页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(51925502,52335002,52175013)。

摘　　要：遥操作技术在喷涂示教任务中应用时需要保证主从端机器人位置与姿态的同步。然而,通信时延会带来遥操作系统的不稳定。为此,提出一种在工作空间中喷涂机器人双边遥操作位姿控制策略。分别建立主从端机器人的预测代理模型,通过预测代理模型互联降低时间延迟对系统跟踪性能的影响。将主从端受到的外力视为半自主反馈回路的外部激励,并配置了阻尼注入控制器,使遥操作系统实现鲁棒稳定。以PhantomOmni机器人和FrankaPanda机器人分别为主端和从端搭建了遥操作喷涂示教实验平台,并进行控制策略的验证。实验结果表明,该位姿控制策略能够在系统存在时变时延条件下实现自由空间运动时的主从端位置和姿态的同步,以及在从端与环境有接触时实现系统位置和姿态跟踪误差有界以及有效的力反馈。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.

关 键 词：喷涂机器人 双边遥操作 时变时延 透明性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]