STABILITY AND TRANSPARENCY OF DELAYED BILATERAL TELEOPERATION WITH HAPTIC FEEDBACK

被引：4

作者：

Estrada, Edgar ^{[1
]}

Yu, Wen ^{[1
]}

Li, Xiaoou ^{[2
]}

机构：

[1] IPN, CINVESTAV, Dept Automat Control, Av IPN 2508, Mexico City 07360, DF, Mexico

[2] IPN, CINVESTAV, Dept Computat, Av IPN 2508, Mexico City 07360, DF, Mexico

来源：

INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE | 2019年 / 29卷 / 04期

关键词：

teleoperation; force control; stability; transparency; POSITION; CONTROLLER; INTERNET; IMPEDANCE; TRACKING;

D O I：

10.2478/amcs-2019-0050

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov-Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.

引用

页码：681 / 692

页数：12

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