Time delay compensation in a bilateral teleoperation system

被引：1

作者：

Gomez-Rosas, Carlos ^{[1
]}

Portillo-Velez, Rogelio J. ^{[1
]}

机构：

[1] Univ Veracruzana, Fac Ingn Construcc & Habitat, Xalapa, Veracruz, Mexico

来源：

PROCEEDINGS OF THE 2021 XXIII ROBOTICS MEXICAN CONGRESS (COMROB) | 2021年

关键词：

Time delay; wave variables; Torque; Current;

D O I：

10.1109/ComRob53312.2021.9628418

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Time delay is a relevant factor in the performance of teleoperation systems. In this work, an experimental 1-DOF testbed has been designed and built. It considers brushless motors as actuators for a master and a slave rotational robots. Architectures torque-velocity and current-velocity are proposed and evaluated in the experimental testbed aplying the wave variable approach. Simulations and experimental results shows that is possible represent the proposed architectures with the basic compensators, based on wave variables, which allows the teleoperation system to compensate the time delay effect and maintain stable behavior.

引用

页码：13 / 18

页数：6

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