Stable teleoperation with time-domain passivity control

被引：259
|
作者：
Ryu, JH [1 ]
Kwon, DS
Hannaford, B
机构：
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn & Comp Sci, Taejon 305701, South Korea
[2] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea
[3] Univ Washington, Dept Elect Engn, Seattle, WA 98195 USA
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 02期
关键词：
passivity controller; passivity observer; teleoperation system; time-domain passivity;
D O I：
10.1109/TRA.2004.824689
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of environments and operating speeds. System stability is analyzed in terms of the time-domain definition of passivity. A previously proposed energy-based method is extended to a 2-port network, and the issues in implementing the "passivity observer" and "passivity controller" to teleoperation systems are studied. The method is tested with our two-degrees-of-freedom master/slave teleoperation system. Stable teleoperation is achieved under conditions such as hard wall contact (stiffness > 150 kN/m) and hard surface following.
引用
收藏
页码：365 / 373
页数：9
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