Time-delay telerobot system control model research

Abstract

This chapter introduces a new optimization of the event-based control model for the time-delay problem. With the waiting-time defect in traditional event-based teleoperation under consideration, this chapter presents the simulated force directly to the teleoperator. The buffer sequence mechanism is accepted at the telerobot end. This method ensures command execution in the sequencing event. Experimental results show that the control effect is satisfactory.

The main direction of bilateral research in teleoperation systems includes the studyof manipulation force and the sense of touch as measured by the robot sensor, etc. Because of the time-delay influence, it proposes an extremely incisive question to the control method: Namely, the existence of a time delay causes the system’s performance to decrease, makes the entire teleoperation system unstable, and makes synchronism difficult. At the same time, the time delay has a variable time characteristic, so research on a time-delay robot control model is extremely necessary.