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首页> 外文期刊>Fortschritt-Berichte VDI, Reihe 8. Mess-, Steuerungs- und Regelungstechnik >Design and Control of Admittance-Type Telemonipulation Systems
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Design and Control of Admittance-Type Telemonipulation Systems

机译：导纳型远程监控系统的设计与控制

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摘要

This thesis summarizes guidelines for the design and control of a highly integrated, multi-modal, and intuitive teleoperation system that can be used to perform a variety of different manipulation tasks requiring bimanual and multi-fingered interactions as well as the collaboration of multiple operators. Hereby, exclusively teleoperation systems using admittance-type devices are investigated. Bimanual 6 DOF manipulations with high interaction forces are realized by newly developed admittance-type haptic interfaces, which are mounted on a mobile platform and thus also allow performance of manipulations in large remote environments. Taking into account a large number of mechatronic requirements, a novel, enhanced, and highly integrated teleoperation system consisting of redundant haptic interfaces and telemanipulators as well as a stereo-vision-system is developed. Dextrous fine manipulations are realized by a multi-fingered telemanipulation system, whereby efficient position and force mapping algorithms are used to map human hand motions to gripper motions and to provide a realistic force feedback. The usage of admittance-type devices instead of classical impedance-type devices poses new challenges on the control concepts. Different types of bilateral control algorithms suitable for admittance-type devices are proposed and robust stability of them is analyzed by using the parameter space approach. Further improvements are achieved by incorporating human factors in the development process. Effects of varied human movement control on task performance and feeling of telepresence are analyzed by means of experimental evaluation and new design guidelines for a user-friendly teleoperation system are derived. Finally, different types of collaborative teleoperation architectures are proposed, application scenarios are described, and challenges on the control of these systems are formulated. In particular, robust stability of a bimanual, a multi-user, and a cooperative teleoperation system is investigated in detail. A variety of laboratory experiments, characterized particularly by their very high complexity, serve for the evaluation and validation of all proposed software and hardware developments.
机译：本文概述了高度集成，多模式，直观的远程操作系统的设计和控制准则，该系统可用于执行各种需要双向和多指交互以及多个操作员协作的不同操纵任务。因此，专门研究了使用导纳型设备的远程操作系统。通过新开发的导纳式触觉界面实现了具有高交互作用力的双手6自由度操纵，该触觉界面安装在移动平台上，因此还可以在大型远程环境中执行操纵。考虑到大量的机电一体化需求，开发了一种新颖的，增强的，高度集成的远程操作系统，该系统由冗余的触觉接口和远程操纵器以及立体视觉系统组成。多指远程操纵系统可实现多种精细操作，从而使用有效的位置和力映射算法将人的手部动作映射到抓手动作并提供逼真的力反馈。使用导纳型设备代替经典的阻抗型设备给控制概念提出了新的挑战。提出了适用于导纳型设备的不同类型的双边控制算法，并通过参数空间方法分析了它们的鲁棒稳定性。通过将人为因素纳入开发过程，可以实现进一步的改进。通过实验评估分析了各种人类动作控制对任务执行和远程呈现感觉的影响，并得出了用户友好型远程操作系统的新设计指南。最后，提出了不同类型的协作远程操作架构，描述了应用场景，并提出了对这些系统的控制提出的挑战。特别地，详细研究了双向，多用户和协作远程操作系统的鲁棒稳定性。各种实验室实验，尤其以其非常高的复杂性为特征，可用于评估和验证所有建议的软件和硬件开发。

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