基于力估计与切换控制的六足机器人三边遥操作

The force sensor of the traditional trilateral teleoperation system has large limitation in measuring the interaction force of the master and slave. It is easy to cause system instability when the shared weight is switched. In this article, a trilateral teleoperation control architecture of the hexapod robot is designed, which is based on force estimation and weight switching control. A nonlinear interaction force estimator is designed to estimate the interaction force between ports in real time. An adaptive switching algorithm for the weight factors is designed, which is based on the shared control strategy to focus on the compliant switching problem in the dynamic adjustment of the weight of two operators. To ensure the stability and transparency of the proposed system, the controller of the teleoperation system is designed by combining the force estimator and the weight switching algorithm. The force feedback device and Vortex and ElSpider hexapod robots are respectively used to establish a semi-physical simulation platform and a physical experiment platform to evaluate the proposed control method. Compared with the traditional trilateral teleoperation, experimental results show that the speed tracking performance is improved by 45. 12% and the force tracking performance is improved by 64. 71% on flat terrain. In rugged terrain, the speed tracking is improved by 39. 02% and the force tracking is improved by 29. 41% .