A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure...A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.展开更多
Bilateral telerobot can help human operator feel and control the remote pre unknown environment as if he/she is at the remote site, which is usually called “telepresence”. However, the transmission time delay betw...Bilateral telerobot can help human operator feel and control the remote pre unknown environment as if he/she is at the remote site, which is usually called “telepresence”. However, the transmission time delay between master manipulator and slave manipulator causes instability of the telerobot system and bad “telepresence” of human operator. In this paper, a new adaptive and passive control scheme based on active impedance matching is proposed to guarantee stability and transparency of the bilateral telerobot system. A genetic algorithm (GA) is used in this control scheme to directly identify parameters of the environment impedance.展开更多
Telerobotic systems become more and more important due to emerging hi-technologyand practical requirement in modern society. This paper studies+ and integrates the modeling, taskscheduling, action planning and control...Telerobotic systems become more and more important due to emerging hi-technologyand practical requirement in modern society. This paper studies+ and integrates the modeling, taskscheduling, action planning and control of telerobot systems. Such hybrid syStems often involve coalmunication, command and control, and are so complex that no efficient and simple method could befound to analyze and design systems. To increase the efficiency, reliability and safety oftelrobot syStems,the consideration of task scheduling and action planning in a unified framework could be an importantstep. The discrete-event dynamics is modeled as a linear state-spare equation in Mad-Algebra sense.Performance evaluation can be carried out efficiently. Then analysis about time-delay continuous-timedynamics is given for the scheduling and control, which shows that, to simplify the design procedure,it is necessary to present a good delay scheduling, for example, by changing multi-time-delays to singleones in advance. Robustness conditions are derived using graph theory for dipcrete-event dynamics andmatrix analysis for continuous-time dynamics.展开更多
A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelit...A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.展开更多
文摘A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.
文摘Bilateral telerobot can help human operator feel and control the remote pre unknown environment as if he/she is at the remote site, which is usually called “telepresence”. However, the transmission time delay between master manipulator and slave manipulator causes instability of the telerobot system and bad “telepresence” of human operator. In this paper, a new adaptive and passive control scheme based on active impedance matching is proposed to guarantee stability and transparency of the bilateral telerobot system. A genetic algorithm (GA) is used in this control scheme to directly identify parameters of the environment impedance.
文摘Telerobotic systems become more and more important due to emerging hi-technologyand practical requirement in modern society. This paper studies+ and integrates the modeling, taskscheduling, action planning and control of telerobot systems. Such hybrid syStems often involve coalmunication, command and control, and are so complex that no efficient and simple method could befound to analyze and design systems. To increase the efficiency, reliability and safety oftelrobot syStems,the consideration of task scheduling and action planning in a unified framework could be an importantstep. The discrete-event dynamics is modeled as a linear state-spare equation in Mad-Algebra sense.Performance evaluation can be carried out efficiently. Then analysis about time-delay continuous-timedynamics is given for the scheduling and control, which shows that, to simplify the design procedure,it is necessary to present a good delay scheduling, for example, by changing multi-time-delays to singleones in advance. Robustness conditions are derived using graph theory for dipcrete-event dynamics andmatrix analysis for continuous-time dynamics.
文摘A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.
