Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay

被引：36

作者：

Kim, Jonghyun ^{[1
]}

Chang, Pyung Hun ^{[2
]}

Park, Hyung-Soon ^{[1
]}

机构：

[1] NIH, Dept Rehabil Med, Clin Res Ctr, Bethesda, MD 20892 USA

[2] Korea Adv Inst Sci & Technol, Taejon 305701, South Korea

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2013年 / 21卷 / 01期

基金：

美国国家卫生研究院;

关键词：

Bilateral control; switched delay system; teleoperation; telerobotics; time delay; transparency-optimized control architecture (TOCA); two-channel architecture; STABILITY ROBUSTNESS; TELEPRESENCE SYSTEMS; TELEMANIPULATION; ENVIRONMENTS; IMPEDANCE; FEEDBACK; DESIGN; ARM;

D O I：

10.1109/TCST.2011.2172945

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.

引用

页码：40 / 51

页数：12

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