Design on a half closed-loop bilateral teleoperation system

摘要

Bilateral control of teleoperation is one of the typical methods for half-automatic control of space robotic system. This paper focuses on the task requirement that the space robot monitoring in orbit (no contact with environment), introduces a half closed-loop framework to construct the bilateral control system with force feedback. First, dynamic model was built, and then after the Lyapunov stability analysis of the system, an equation represents the parameters' constraints, which could assure the system to keep stable, was obtained. At last, a controller was designed based on the equation. Simulations were carried out with a unilateral time delay of 0.5, 1.5, 3, 5 seconds respectively, and system stability was validated.