Recently, Xu Jingzhe, a postgraduate student from Associate Professor Ge Mingfeng’s team, published his research results in IEEE Transactions on Industrial Electronics (IF = 7.515), the leading journal in industrial electronics, as the first author. In the paper, a new semi-autonomous networked slave robot teleoperation control system was constructed, and a force-reflecting hierarchical control framework was proposed to solve the synchronization and formation tracking problems of the system.
Teleoperation system enables the operator to remotely control the slave robot through the master robot in a safe environment to complete the tasks in the remote environment (usually dangerous or inaccessible workspace). At present, the related researches mainly focus on the bilateral teleoperation system for single-master and single-slave and the single/multi-master and multi-slave teleoperation system based on centralized control strategy, and there is no compatible design of control algorithm according to human decision-making ability and job requirements. However, in practical application, we may encounter emergency situations that cannot be estimated in advance, and we need to rely on human emergency response ability to guide the whole system to make corresponding countermeasures. In this paper, a human-aided control mode has been proposed to complete the control transition in the above emergency situations.
In view of the above scientific problems, the research team has considered the actual factors such as parameter uncertainty, disturbance and time delay, comprehensively analyzed the impact of human operator decision-making on system kinematics and dynamics in emergency situation, proposed a new force-reflecting hierarchical control framework, and designed the related event-triggered controller and force observer under this framework to solve the fixed time tracking control problem of the system.
The research results are supported by National Natural Science Foundation of China (62073301, 62703374, 61973133) and the Fundamental Research Funds for the Central Universities (1910491B05) of China University of Geosciences (Wuhan).
Paper information:
Title: Force-reflecting hierarchical approach for human-aided teleoperation of NRS with event-triggered local communication
Authors: Jing-Zhe Xu, Ming-Feng Ge, Zhi-Wei Liu, Wen-Yi Zhang, Wei Wei
Source: IEEE Transactions on Industrial Electronics
DOI: 10.1109/TIE.2021.3068678
Published online: 30 March 2021
Paper links: https://ieeexplore.ieee.org/document/9390311
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