Full-state control method for the master-slave robot system with flexible joints and time-varying delays
US11453114B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 11, 2021 |
| Grant date | Sep 27, 2022 |
| Priority date | — |
| Expiry date | Feb 27, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39219
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A full-state control method for a master-slave robot system with flexible joints and time-varying delays is provided. In a teleoperation system formed by connecting a master robot and a slave robot through network, a proportional damping controller based on a position error and velocities, and a full-state feedback controller based on backstepping are designed for the master robot and the slave robot, respectively. High-dimension uniform accurate differentiators are designed to realize an exact difference to the virtual controllers. Delay-dependent stability criteria are established by constructing Lyapunov functions. Therefore, the criteria for selecting controller parameters are presented such that the global stability of the master-slave robot system with flexible joints and time-varying delays is realized. For the master-slave robot system with flexible joints, the global precise position tracking performance is realized by adopting a full-state feedback controller based on the backstepping method and the high-dimensional uniform accurate differentiators. Moreover, the global asymptotic convergence of the system is guaranteed and the robustness of the system is improved.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.