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.
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.
基金
Supported by the National High Technology Research and Development Programme of China(No.2006AA04Z245)
the Basic Research Universities Special Fund Operations(No.JUSRP11127)
作者简介
To whom correspondence should be addressed. E-mail： yzzrobot@ 126. com Yu Zhenzhong, born in 1980. He received his Ph. D degree from State Key Laboratory of Robotics and System Harbin Institute of Technology in 2010. His current research interests include mobile robot and teleoperation system.
