Performance Improvement of PD-Based Bilateral Teleoperator with Time Delay by Introducing High-Pass Filter

被引：0

作者：

Imaida, Takashi ^{[1
]}

Senda, Kei ^{[1
]}

机构：

[1] Kyoto Univ, Grad Sch Engn, Dept Aeronaut & Astronaut, Kyoto 6158540, Japan

来源：

ROBOTICA | 2020年 / 38卷 / 07期

关键词：

Bilateral control; Passivity; Teleoperation; Time delay; High-pass filter; CONTROLLER; DESIGN;

D O I：

10.1017/S0263574719001498

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Stability is a major problem with bilateral teleoperator when there is a transmission time delay. By adding adequate damping gain into position servo, a stable bilateral control can be achieved under the existence of time delay. However, large damping gain is required to stabilize the system and the performance is degraded. In this paper, the performance improvement by introducing a high-pass filter into a proportional derivative-based teleoperator with time delay has been studied. We proposed new control law and derived the stability condition. We demonstrated the performance improvement using a hybrid matrix, 1-degree of freedom (DOF), 2-DOF simulations, and 2-DOF peg-in-hole experiments.

引用

页码：1318 / 1342

页数：25

共 25 条

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