Harbin University of Science and Technology
The National Natural Science Foundation of China, The Natural Science Foundation of Heilongjiang Province of China
With the deepening of the research work of the hexapod robot teleoperation system, the development of its control system will also face many challenges. In order to realize the real-time distribution of the control weight of each operator under the condition of dual-user control, a hexapod robot dual-user control weight distribution method based on the Transparency and Control State (TCS) is designed in this paper. Its dual master and single slave adopt a position-speed interactive mode. By analyzing the real-time transparency and current control status of the system, a trilateral teleoperation control law is constructed, sharing factors are calculated in real time, and a speed tracking mode is adopted to design a system based on haptic force feedback. Control architecture, and use the three-port absolute stability theorem to determine the stable range of the control law parameters. Finally, build a semi-physical simulation experiment platform and verify that the designed trilateral shared teleoperation method can achieve dual-user control of a hexapod robot with high efficiency and safety while taking into account system safety and transparency, and can fully Consider the control intent of dual users.