Scaled non-passive environmental interaction force tracking for telerobotic manufacturing system with variable time delay  

作　　者：Yukui ZHANG Fangyu PENG Yiming WAN Chen CHEN Zhitao GAO Haoyan LIU Yu WANG Rong YAN Xiaowei TANG 

机构地区：[1]School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan,430074,China [2]School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan,430074,China [3]Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan,430081,China

出　　处：《Science China(Technological Sciences)》2025年第3期167-178,共12页中国科学(技术科学英文版)

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.52188102,52105515,62373161)。

摘　　要：Robot teleoperation plays an important role in industrial manufacturing in unknown and dangerous environments beyond human reach.In telerobotic manufacturing tasks,environmental interaction forces may vary significantly from task to task.Therefore,it is crucial to provide operators with the specific proportional feedback of environmental interaction forces to enhance their environmental awareness and manipulation capabilities.However,variable time delays and various scales of environmental interaction force feedback seriously affect the system stability,which should be rigorously addressed when designing control parameters.To cope with these difficulties,a position and scaled force tracking control framework is proposed and the LyapunovKrasovskii theory is used to obtain a simple algebraic stability criterion with the scaling factor of the environmental interaction force feedback.In addition,a low-pass filter-based radial basis function neural network is designed to avoid the effect of the measurement noise and the sudden change of the non-passive environmental interaction force on the system stability.Compared with different controllers in various telerobotic manufacturing tasks such as heavy lifting,cutting,and polishing,our proposed method achieves better position and scaled force tracking performance.

关 键 词：non-passive interaction force position tracking scaled force tracking stability analysis telerobotic manufacturing system variable time delay 

分 类 号：O17[理学—数学]