A passive bilateral control scheme for a teleoperator with time-varying communication delay

被引：173

作者：

Ryu, Jee-Hwan ^{[1
]}

Artigas, Jordi ^{[2
]}

Preusche, Carsten ^{[2
]}

机构：

[1] Korea Univ Technol & Educ, Sch Mech Engn, Cheoan City 330708, South Korea

[2] German Aerosp Ctr, Inst Robot & Mechatron, D-82234 Wessling, Germany

来源：

MECHATRONICS | 2010年 / 20卷 / 07期

关键词：

Teleoperation; Bilateral control; Time-delay; Passivity Controller; Passivity Observer; Time-domain passivity; STABILITY;

D O I：

10.1016/j.mechatronics.2010.07.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a passive bilateral control scheme is proposed for a teleoperator with time-varying communication delay Recently proposed two-port time domain passivity approach (TDPA) which composed of Passivity Observer (PO) and Passivity Controller (PC) is extended A set of sufficient conditions is derived which satisfies the passivity of the two-port delayed network system by separating the input and output energy at each port This condition satisfies the passivity of the network system independent of the amount of delay its variation and lost packet Two PCs are designed at each port based on its causality to guarantee the passivity condition In order to filter out the sudden force change of the PC a passive virtual dynamic system composed of virtual mass and spring is inserted between the master and the PC Even under a large time-delay with variation and communication blackout the proposed approach can guarantee passive bilateral teleoperation (c) 2010 Elsevier Ltd All rights reserved

引用

页码：812 / 823

页数：12

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