Research on novel control techniques for robot teleoperation in unstructured environments

Abstract

A novel control method, called <i>Interactive Partial Modeling-based Teleoperation Control</i> (IPMTC) was developed to realize the intelligent control of the telerobot system in unstructured environment, combined with the intelligent digital hybrid controller that have been developed. This method can estimate task status and environment perception information, and send requests for intervention of human operation (HO) real time during autonomy. In order to guarantee real time transition of HO intervention and autonomy, the intelligent control module was developed based on the results of task estimation, which can realize the functions of task plan, subtask autonomous execution, and automated reasoning about the task. A new remote predictive control method and the single/double delay time compensation strategy are introduced to improve the real time performance of the system. The performances of the teleoperation system in unstructured environments are guaranteed with above control techniques.