Network based control for teleoperation of robot manipulators

基于网络的机器人机械手远程操作控制

• 批准号: 327626-2006
• 负责人: Shi, Yang
• 金额: $ 1.38万
• 依托单位: University of Saskatchewan
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2008
• 资助国家: 加拿大
• 起止时间: 2008-01-01 至 2009-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=397876
• 关键词: Network; based; control; teleoperation; robot

Teleoperation of robot manipulators has a wide range of application fields such as military, space exploration, undersea oil mining, uranium mining, agriculture, tele-surgery, and so on. With the vast progress in network and computing technology, teleoperation of robot manipulators has been increasingly influenced by network based control systems. In the communication network framework, the manipulator's sensor outputs and actuator inputs are communicated to and from the remote controller via a system computer, through some network transmission medium. Network transmission enables remote data transfers and data exchanges among agents, reduces the complexity in wiring connections and the costs, and provides ease in maintenance. Such network based control systems present new difficulties for control engineers and designers because of network-induced delays and packet loss. Combining network transmission constraints, manipulator's uncertain dynamics, and control specifications in network based control systems for the teleoperation of robot manipulators is the objective and thrust in this research.  In the communication network framework, the proposed research program covers intelligent teleoperation, pseudo nonlinear model predictive control, and nonlinear observer design of robot manipulators. The proposed research program would be beneficial in moving network based control forward towards practical applications; it would provide control engineers and designers with new tools for analysis and synthesis of robot manipulator control systems over communication networks; finally, it would strengthen our research activities in this new and challenging area.

机器人遥操作在军事、空间探测、海底石油开采、铀矿开采、农业、遥操作等领域有着广泛的应用。随着网络和计算技术的飞速发展，基于网络的控制系统对机器人遥操作的影响越来越大。在通信网络框架中，机械手的传感器输出和致动器输入经由系统计算机通过某种网络传输介质与遥控器通信。网络传输实现了代理之间的远程数据传输和数据交换，降低了布线连接的复杂性和成本，并提供了维护方便。由于网络引起的时延和分组丢失，这种基于网络的控制系统给控制工程师和设计者带来了新的困难。将网络传输约束、机械手的不确定动力学和基于网络的控制系统中的控制规范结合起来进行机器人遥操作的研究是本研究的目标和主旨，在通信网络框架下，研究方案涵盖了机器人的智能遥操作、伪非线性模型预测控制和非线性观测器设计。提出的研究方案将有助于推动基于网络的控制走向实际应用；它将为控制工程师和设计人员提供新的工具，用于分析和综合通信网络上的机器人机械手控制系统；最后，它将加强我们在这一新的和具有挑战性的领域的研究活动。