Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation

被引：275

作者：

Hashtrudi-Zaad, K ^{[1
]}

Salcudean, SE

机构：

[1] Queens Univ, Dept Elect & Comp Engn, Kingston, ON K7L 3N6, Canada

[2] Univ British Columbia, Dept Elect & Comp Engn, Vancouver, BC V6T 1Z4, Canada

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2002年 / 18卷 / 01期

关键词：

bilateral control; force feedback; stability; teleoperation; time-delay; transparency; two-port network;

D O I：

10.1109/70.988981

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 first investigates the issue of transparency in time-delayed teleoperation. It then studies the advantages of employing local force feedback for enhanced stability and performance. In addition, two classes of three-channel control architectures, that are perfectly transparent under ideal conditions are introduced. The stability robustness of the proposed architectures to delays is rigorously analyzed, leading to certain bounds on force feedforward control parameters. Experimental results are included in support of the theoretical work.

引用

页码：108 / 114

页数：7

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