Contol systems design for stable transparent teleoperation

稳定透明远程操作的控制系统设计

• 批准号: 238752-2008
• 负责人: HashtrudiZaad, Keyvan
• 金额: $ 1.82万
• 依托单位: Queen's University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2012
• 资助国家: 加拿大
• 起止时间: 2012-01-01 至 2013-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=503571
• 关键词: Contol; systems; design; stable; transparent

The proposed research aims at developing advanced control methods for robotic teleoperation systems that are employed to project users' sensing and manipulation abilities to remote or dangerous locations. Telerobotic systems are composed of a force feedback hand-held mechanism (master) with which a local operator interacts, a robot (slave) that is commanded to perform a desired task on a remote environment, and a communication channel through which commands are transmitted. The fundamental challenges in the design of teleoperation control systems reside in dynamic variations and uncertainties in the human arm and unstructured environments, as well as communication delays that significantly compromise performance versus stability.

拟议的研究旨在为机器人遥操作系统开发先进的控制方法，这些系统用于将用户的感知和操纵能力投射到偏远或危险的位置。远程机器人系统由一个力反馈手持机构（主），与本地操作员进行交互，一个机器人（从），被命令在远程环境中执行所需的任务，和一个通信信道，通过该信道传输命令。遥操作控制系统设计的基本挑战在于人的手臂和非结构化环境中的动态变化和不确定性，以及显著损害性能与稳定性的通信延迟。