Digital versus analog control of bilateral teleoperation systems: A task performance comparison

被引：12

作者：

Yang, Ting ^{[1
]}

Fu, Yili ^{[1
]}

Tavakoli, Mahdi ^{[2
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150080, Peoples R China

[2] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 2V4, Canada

来源：

CONTROL ENGINEERING PRACTICE | 2015年 / 38卷

基金：

加拿大创新基金会; 加拿大自然科学与工程研究理事会;

关键词：

Bilateral teleoperation system; Continuous-time control; Discrete-time control; Transparency; Task performance; HAPTIC INTERACTION; TIME-DELAY; STABILITY; PASSIVITY;

D O I：

10.1016/j.conengprac.2015.01.008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Controller discretization has the potential to jeopardize the stability of a bilateral teleoperation system. As reported in the literature, stability conditions impose bounds on the gains of the discrete-time controller and the sampling period and also a trade-off between the two. This paper shows a choice of task for which large sampling periods, necessitating low control gains for maintaining stability, lead to low teleoperation transparency and unacceptable task performance. It continues to show that users can successfully perform the same task if the controller is implemented using analog components. This highlights the advantages of analog haptics in tasks involving the display of highly stiff environments. The paper also highlights the constraints in designing analog haptic teleoperation controllers and proposes design guidelines to address them. (C) 2015 Elsevier Ltd. All rights reserved.

引用

页码：46 / 56

页数：11

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