Force-reflection Bilateral Control System with Large Time Delay
DENG Qi-wen1, WEI Qing1, LI Ze-xiang2
1. College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China; 2. Department of Electrical & Electronic Engineering, Hong Kong University of Science and Technology, Hong Kong
邓启文, 韦庆, 李泽湘. 大时延力反馈双边控制系统[J]. 机器人, 2005, 27(5): 410-413,419..
DENG Qi-wen, WEI Qing, LI Ze-xiang. Force-reflection Bilateral Control System with Large Time Delay. ROBOT, 2005, 27(5): 410-413,419..
Abstract:This paper introduces the basic principle of teleoperation system based on force-reflection bilateral control.Then,based on the stability and transparency,a way which can guarantee the stability and improve the transparency is introduced.At last,an experimental teleoperation system is implemented,and a curved surface tracing experiment is completed successfully with the time-delay of 6 seconds.
[1] Lawn C A, Hannaford B. Performance testing of passive communicat ion and control in teleoperation with time delay[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Atlanta, USA:IEEE 1993. 776-781. [2] Anderson R, Spone M. Bilateral control of teleoperators with time delay[J]. IEEE Transactions on Automatic Control, 1989, 34(3):494-501. [3] Niemeyer G, Slotine J J. Stable adaptive telooperation[J]. IEEE Journal of Oceanic Engineering, 1991, 16(1):152-162. [4] Cho H C, Park J H, Kim K, et al. Sliding-mode-based impedance controller for bilateral teleoperation under varying time-delay[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Sooul, Korea:IEEE, 2001. 1025-1029. [5] Yokokohji Y, Yoshikawa T. Bilateral control of master-slave manipulators for ideal kinesthetic coupling[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Nice,France:IEEE, 1992. 849-858. [6] Hashrrudi-Zaad K, Salcudean S E. Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation[J]. IEEE Transactions on Automatic Control, 2002, 18(1):101-114. [7] Imaida T, Yokokohji Y, Doi T, et al. Ground-space bilateral telooperation experiment using ETS-Ⅶ robot arm with direct kinesthetic coupling[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Seoul, Korea:IEEE, 2001. 1031-1038. [8] 陈惠开,吴新余,吴叔美.现代网络分析[M]. 北京:人民邮电出版社,1992.