Studying Dynamics of Manipulation Robot Control System with Force Feedback Telepresence

Systems for force feedback telepresence control of manipulation robots are considered. A manipulation robot includes two manipulators, each equipped with a six-component force-torque sensor arranged on the wrist. Vectors of control actions are formed at inputs of the control system of each manipulator in the form of a difference of integrals of signals from the force-torque sensor. A manipulator control system is a symmetric type system. Mathematical models of the force feedback telepresence system as the multidimensional dynamical system with consideration for mutual influence of drives are presented. A method is offered for studying and ensuring stability of these systems based on consideration of the Nyquist function. The relationships are given for the Nyquist function in case of the manipulator motion in a free zone, the interaction of one of them or both manipulators with environment. A possibility of studying the stability of the force feedback telepresence system on the basis of consideration of properties of the Nyquist function hodograph for a single manipulator alone is substantiated. The experimental investigation results are given which confirm the theoretical statements. The experiments are performed at the semi-full-scale modeling test bench constructed on the basis of two industrial robots.

References

[1] Kuleshov V.S., Lakota N.A. Distantsionno upravlyaemye roboty i manipulyatory [Remote-controlled robots and manipulators]. Moscow, Mashinostroenie Publ., 1986. 328 p.

[2] Leskov A.G., Illarionov V.V., Leskova S.M., Polukhin V.I. The development of functional modeling stands for training operators of space robotic manipulators. Trudy 6 Mezhdunar. Nauchno-Prakt. Konf. "Pilotiruemye polety v kosmos" [Proc. 6th Int. Sci. Pract. Conf. "Manned space flights"], Moscow, 2005, pp. 179–180 (in Russ.).

[3] Medvedev V.S., Leskov A.G., Yushchenko A.S. Sistemy upravleniya manipulyatsionnykh robotov [Robotic manipulator control systems]. Moscow, Nauka Publ., 1978. 416 p.

[4] Egorov I.N., Zhigalov B.A., Kuleshov V.S. Proektirovanie sledyashchikh sistem dvustoronnego deystviya [Design of double-acting servo systems]. Moscow, Mashinostroenie Publ., 1980. 300 p.

[5] Nohmi M., Bock T. Contact task by force feedback teleoperation under communication time delay. Human-robot interaction. Vienna, Itech. Educ. Publ., 2007. 522 p.

[6] Alferov G.V., Kulakov F.M., Nechaev A.I., Chernakova S.E. Informatsionnye sistemy virtual’noy real’nosti v mekhatronike i robototekhnike [Information systems of virtual reality in mechatronics and robotics]. St. Petersburg, SOLO Publ., 2006. 146 p.

[7] Kazmirenko V.F., Leskov A.G., Vvedenskiy V.A. Sistemy sledyashchikh privodov [Servo drive systems]. Moscow, Energoatomizdat Publ., 1993. 303 p.

[8] Leskov A.G., Kalevatykh I.A. Experimental study of control algorithms for twoarmed robot manipulator restricted movement. Vestn. Mosk. Gos. Tekh. Univ. im. N.E. Baumana, Ser. Priborostr. [Herald of the Bauman Moscow State Tech. Univ. Ser. Instrum. Eng.], 2012, no. 4, pp. 33–43 (in Russ.).