On the delayed kinematic correspondence with variable time delays for the control of the bilateral teleoperation of robots

被引：9

作者：

Arteaga-Perez, Marco A. ^{[1
]}

Lopez, Mauro ^{[1
]}

Nuno, Emmanuel ^{[2
]}

Hernandez-Ortiz, Oscar ^{[1
]}

机构：

[1] Univ Nacl Autonoma Mexico, Dept Control & Robot, DIE FI, Mexico City 04510, DF, Mexico

[2] Univ Guadalajara, Ctr Univ Ciencias Exactas & Ingn, Dept Ciencias Computac, Guadalajara, Jalisco, Mexico

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2021年 / 94卷 / 09期

关键词：

Bilateral teleoperators; observer design; variable time delays; delayed kinematic correspondence; TRANSPARENCY; CONSENSUS; FEEDBACK; SYSTEMS;

D O I：

10.1080/00207179.2019.1707287

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Bilateral teleoperators allow to perform tasks in remote environments. Telepresence and transparency are affected when delays are present. A proposal is made on the most important cases to deal with for the delayed kinematic correspondence in bilateral teleoperation with variable time delays and a control-observer scheme is proposed. Any of the two manipulators can be moved causing a trajectory tracking in the remote robot. Should the latter get in touch with the environment, the operator gets some degree of delayed kinematic correspondence. Only the mild assumptions are made that human/environment forces and their derivatives are bounded. Experiments are provided.

引用

页码：2353 / 2368

页数：16

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