| Yu Zhenzhong (于振中),Yan Jihong,Hui Jing,Zhao Jie,Ma Yonghu.[J].高技术通讯(英文),2013,19(1):12~17 |
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| Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture |
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| DOI： |
| 中文关键词: |
| 英文关键词: bilateral teleoperation, three-channel, wave variable, wave domain prediction, time-delay |
| 基金项目: |
| Author Name | Affiliation | | Yu Zhenzhong (于振中) | | | Yan Jihong | | | Hui Jing | | | Zhao Jie | | | Ma Yonghu | |
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| 中文摘要: |
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| 英文摘要: |
| This paper proposes a novel method for incorporating wave domain prediction in a three-channel (3CH) architecture, which is the optimal architecture from a transparency point of view, to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system. A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master side. The communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH architecture. Then the I/O signal of the two-port model is transformed into wave variable. A predictor is added to the wave domain of the master side to further improve the transparency of the system, and a regulator is designed to ensure the passivity of the predictor. Experimental results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay. |
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