Transparent time-delayed bilateral teleoperation using wave variables

被引：96

作者：

Aziminejad, A. ^{[1
,2
]}

Tavakoli, M. ^{[3
]}

Patel, R. V. ^{[1
,2
]}

Moallem, M. ^{[4
]}

机构：

[1] Univ Western Ontario, Dept Elect & Comp Engn, London, ON N6A 5A5, Canada

[2] Canada Surg Technol & Adv Robot CSTAR, London, ON N6A 5A5, Canada

[3] Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA

[4] Simon Frasier Univ, Sch Engn Sci, Surrey, BC V3T 0A3, Canada

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2008年 / 16卷 / 03期

基金：

加拿大自然科学与工程研究理事会; 加拿大创新基金会;

关键词：

bilateral teleoperation; passivity; time-delay compensation; transparency; wave variables;

D O I：

10.1109/TCST.2007.908222

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Besides stability, a high degree of transparency is also an essential requirement in order to enable operators to safely and precisely perform bilateral. teleoperation tasks. An existing approach based on the wave transformation technique can make a two-channel teleoperation system insensitive to time delays by making the time-delayed communication channel passive. In this paper, we propose a novel method for incorporating this technique in a four-channel architecture, which is the optimal architecture from a transparency point of view, and derive the corresponding absolute stability condition. It is analytically demonstrated that the proposed teleoperation architecture is capable of providing ideal transparency when transmission delays are present, and criteria for its stable operation are derived. We also show that a three-channel variant of the proposed four-channel control architecture can offer a comparable performance with less implementational complexity. Experimental results in support of the developed theory are provided.

引用

页码：548 / 555

页数：8

共 18 条

[11] Telemanipulation with time delays [J].