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Alternative TitlePrediction display based control law for space tele-operation with large time-varying delays
阳方平; 李洪谊; 王越超; 崔龙; 陈鹏; 王雪竹
Source Publication科学通报
Contribution Rank1
Funding Organization国际热核聚变实验堆(ITER)计划专项(2012GB102005)资助
Keyword时变大时延 预测显示 空间遥操作
Other AbstractA control method based on prediction display for space tele-operation under large time-varying delays is presented. The space teleoperation system is divided into several subsystems. First, design a passivity-filter algorithm to guarantee the stability of the communication channel subsystem. Then, compensate the dynamics of the master visual-reality robot and the salve real robot for the gravity, and propose a PD control law for joint torque control of the slave robot. Finally, the Lyapunov stability of the entire tele-operation interconnected system, which does not depend on system dynamics modeling accuracy, is proved theoretically. A space teleoperation simulation experiment platform is built. Under the condition of large time-varying delays, experiments are taken to verify the effectiveness of the method to guarantee the stabilty of the system, and improve vision telepresence of operators.
Document Type期刊论文
Recommended Citation
GB/T 7714
阳方平,李洪谊,王越超,等. 一种基于预测显示的时变大时延空间遥操作控制方法[J]. 科学通报,2013,58(S2):128-134.
APA 阳方平,李洪谊,王越超,崔龙,陈鹏,&王雪竹.(2013).一种基于预测显示的时变大时延空间遥操作控制方法.科学通报,58(S2),128-134.
MLA 阳方平,et al."一种基于预测显示的时变大时延空间遥操作控制方法".科学通报 58.S2(2013):128-134.
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