Teleoperation control for bimanual robots based on RBFNN and wave variable

摘要

In this paper, a dual arm control method in a tele-operation system is introduced. For a bimanual robot, moving a common object precisely requires real-time cooperation between the two arms. In such conditions the force interaction including the internal forces applied on the object must be taken into account. Therefore the dynamics models for master device, slave robot and the object are first analysed. Because the presence of the uncertainties in the dynamics model of the remote robot, a neural network method is used for compensation in the slave part. In order to guarantee the stability of the teleoperation system, the wave variable approach is employed in the communication part. Then the controllers in both the master and the slave part are designed based on their dynamics models. Then the tracking convergence and system stability are proven by the Lyapunov function. Several simulation experiments are carried out to show the good performance of trajectory tracking and force reflection.