| 遥操作机器人系统的预测控制 |
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| 引用本文： | 陈启宏,费树岷,宋爱国.遥操作机器人系统的预测控制[J].东南大学学报(自然科学版),2003,33(2):177-181. |
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| 作者姓名： | 陈启宏 费树岷 宋爱国 |
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| 作者单位： | 1. 东南大学自动化研究所,南京,21009
2. 东南大学仪器科学与工程系,南京,210096 |
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| 基金项目： | 国家 8 63高技术资助项目 ( 863 2 0 0 1AA42 3 2 40 ) |
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| 摘 要： | 遥操作机器人系统传输通道中存在通讯时延，造成系统不稳定和操作性能降低等问题．为了消除或减少时延的影响，利用前向神经网络建立环境模型，通过神经网络模型预测从机械手受力，并用时间前向观测器预测从机械手状态；然后用力、位置和速度反馈对系统进行设计，使得系统在环境模型未知的条件下稳定，还能获得良好的透明性；最后，将预测方法与无源控制方法进行切换，保证系统在环境剧变时的稳定性．实验结果表明了该方法的有效性．
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| 关 键 词： | 遥操作机器人系统 预测控制 前向神经网络 环境模型 机械手 无源控制 |
| 文章编号： | 1001-0505(2003)02-0177-05 |
Predictive control of teleoperation robot systems |
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| Chen Qihong,Fei Shumin,Song Aiguo.Predictive control of teleoperation robot systems[J].Journal of Southeast University(Natural Science Edition),2003,33(2):177-181. |
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| Authors: | Chen Qihong Fei Shumin Song Aiguo |
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| Institution: | Chen Qihong 1 Fei Shumin 1 Song Aiguo 2 |
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| Abstract: | The communication time delay in communication channels of a teleoperation robot system conduces to instability and bad performance of the system. In order to eliminate or reduce the effect of time delays, back propogation neural network is used to build the model of environment. Force and states of the slave are predicted through the neural network model and time forward observer. Moreover, force,position and velocity feedback are proposed, control parameters are designed and controllers are switched between predictive control and passive control to ensure the stability and performance of the system. The experimental results prove the effectiveness of this method. |
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| Keywords: | teleoperation time delay neural network predictive control observer |
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