Asymmetric wave variable compensation method in dual-master-dual-slave multilateral teleoperation system

被引：30
作者：
Huang, Panfeng [1 ,2 ]
Dai, Pei [1 ,2 ]
Lu, Zhenyu [1 ,2 ]
Liu, Zhengxiong [1 ,2 ]
机构：
[1] Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Xian 710072, Shaanxi, Peoples R China
[2] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Shaanxi, Peoples R China
来源：
MECHATRONICS | 2018年 / 49卷
基金：
中国国家自然科学基金;
关键词：
Dual-master-dual-slave teleoperation system; Time delay; Asymmetric wave variable compensation; ATTITUDE TAKEOVER CONTROL; BILATERAL TELEOPERATION; POST-CAPTURE; SPACE ROBOT; TIME DELAYS; TARGET; TELEROBOTICS;
D O I：
10.1016/j.mechatronics.2017.11.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Time delay existed in the communication channels leads to the appearance of some most challenging problems, such as decrease of stability and tracking performance, for dual-master-dual-slave (DMDS) teleoperation system. Based on the DMDS architecture, wave-variable-based method is proposed to handle those problems with the advantage of delay-independent passivity. To guarantee system stability and enhance the trajectory and force tracking performance, an asymmetric wave variable compensation method is presented, which compensates the backward wave variable by forward wave variable. Simulation and experiment results show the effectiveness of the proposed method in reducing tracking error and ensuring system stability.
引用
收藏
页码：1 / 10
页数：10
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