Generalized control method by state convergence for teleoperation systems with time delay

被引：54

作者：

Azorin, JM ^{[1
]}

Reinoso, O

Aracil, R

Ferre, M

机构：

[1] Univ Miguel Hernandez, Escuela Politecn Super Elche, Dept Ingn Sist Ind, Alicante 03202, Spain

[2] Univ Politecn Madrid, DISAM, ETSII, E-28006 Madrid, Spain

来源：

AUTOMATICA | 2004年 / 40卷 / 09期

关键词：

telerobotics; time delay; dynamic modelling; control system; state space;

D O I：

10.1016/j.automatica.2004.04.001

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 generalized design and control method for teleoperation systems with communication time delay is presented. The design method is based on the state space formulation and it allows to obtain the control parameters for any teleoperation system where the master and the slave manipulators would be represented by nth-order linear differential equations. Through state convergence between the master and the slave, the control system allows the slave to follow the master inspite of the time delay. The method is also able to establish the desired dynamics of this convergence and the dynamics of the slave manipulator. Experimental results are presented showing the validity of the proposed design and control method. (C) 2004 Elsevier Ltd. All rights reserved.

引用

页码：1575 / 1582

页数：8

共 16 条

[1] BILATERAL CONTROL OF TELEOPERATORS WITH TIME-DELAY [J].

ANDERSON, RJ ;

SPONG, MW .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1989, 34 (05) :494-501

[2]

[Anonymous], 1985, TELEOPERATION ROBOTI

[3] Control schemes for teleoperation with time delay: A comparative study [J].

Arcara, P ;

Melchiorri, C .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2002, 38 (01) :49-64

[4]

Azorin JM, 2003, CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2, P1170

[5]

Azorín JM, 2003, PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3, P100

[6]

AZORIN JM, 2003, IFAC WORKSH TIM DEL

[7] DELAYED FORCE FEEDBACK [J].

FERRELL, WR .

HUMAN FACTORS, 1966, 8 (05) :449-455

[8]

FUNDA J, 1991, THESIS U PENNSYLVANI

[9] STABILITY AND PERFORMANCE TRADEOFFS IN BILATERAL TELEMANIPULATION [J].

HANNAFORD, B .

PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, :1764-1767

[10] COLLISION - MODELING, SIMULATION AND IDENTIFICATION OF ROBOTIC MANIPULATORS INTERACTING WITH ENVIRONMENTS [J].

JANABISHARIFI, F .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1995, 13 (01) :1-44

← 1 2 →