كنترل سيستم‌هاي رهبر-پيرو رباتيكي همراه با انتقال امپدانس در حضور اغتشاشات

The present research addresses the issue of user-orientation in remote operation robotic systems. Control approaches for master-slave robotic systems are designed with the aim of providing better transparency while maintaining stability under varying human dynamics. One of the important challenges in the field of master-slave robotic systems is the variability of the human han‎d impedance during interaction with the master robot, which significantly affects the system performance. This paper presents a solution to improve this challenge by integrating human han‎d stiffness estimation into adaptive impedance control for master-slave systems. In this paper, a four-channel architecture is first developed to transfer sense/force from the master robot to the slave robot. The input-to-state stability of the proposed four-channel approach in the presence of both master an‎d slave controllers is discussed. Next, to improve the stability an‎d transparency of the interaction, another architecture based on impedance reference model control is designed for the slave robot. In the second architecture, the coefficients of the desired impedance reference model are continuously updat‎ed according to the dynamics of the human han‎d (in interaction with the master robot). For this purpose, a new three-term model is presented to describe the interaction between the userʹs han‎d an‎d the robot. The coefficients of this model, including stiffness an‎d damping, are estimated based on the difference between the positions of the master an‎d slave robots. In the second architecture (based on impedance reference model control), the input-to-state stability is investigated an‎d system stability conditions are presented. The effectiveness of the proposed approaches is demonstrated through numerical simulation an‎d practical implementation on a semi-experimental master-slave robotic platform. Finally, to obtain the desired information about human han‎d impedance, two approaches for estimating han‎d stiffness based on electromyography signals are proposed. The first method provides a qualitative (approximate) estimate of han‎d stiffness based on muscle activation patterns an‎d allows for real-time impedance matching of the slave robot. The second method introduces a perturbation-based empirical approach to achieve a quantitative an‎d accurate estimation of han‎d impedance coefficients. In this approach, a quantitative value of han‎d stiffness is calculated from the electromyography signal. The least-squares method is used to identify the han‎d impedance coefficients. The experimental results show the proper performance of the han‎d stiffness estimation mechanism based on the electromyography signal an‎d the possibility of transferring it to the controller of the slave robot while maintaining the stability of the system.

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