基于标准双边控制的改进力反馈遥操作方法

In order to handle communication time delay problem in space robot teleoperation, an improved proportion and differentiation (PD) bilateral force feedback method for teleoperation control system was proposed. The absolute stability condition was theoretically deduced at first. On the premise of stable conditions, the transparency was further studied and the constraint conditions of control parameters that guarantee the best transparency were derived. Two simulation experiments were conducted to verify the significant effect of the proposed method that improved the teleoperation system's transparency and tracking performance. One was a comparison experiment between standard PD bilateral control method and the improved PD bilateral control method, and the other was performance analysis of stability and transparency during fixed time delay and variable time delay. The derived stability and transparency conditions were supported by the simulation results. They are able to improve the PD bilateral force feedback control method and provide reference to its application in complex teleoperation systems.