Internet-based Bilateral Teleoperation Using a Revised Time-Domain Passivity Controller
Internet-based Bilateral Teleoperation Using a Revised Time-Domain Passivity Controller
复制标题
使用改进的时域无源控制器的基于互联网的双边远程操作
DOI：
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发表时间：
2017
影响因子：
1.7
通讯作者：
J. Kövecses
中科院分区：
文献类型：
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作者：
L. Márton;Z. Szántó;T. Haidegger;P. Galambos;J. Kövecses
本研究提出一个可透过网际网路远端控制移动的机械手的遥操作系统。提出了一种双边控制算法，可以确保稳定性和适当的力反射在主和从之间的通信信道中存在的非恒定延迟。在本文中的控制方法是基于时域无源性的概念，并提出了一种修改的无源性控制器，以确保增强的透明度与有界控制行动中存在的时变通信延迟。还报告了跨大西洋和欧洲间的双边远程操作实验（加拿大蒙特利尔、罗马尼亚特尔古穆雷斯;匈牙利布达佩斯、罗马尼亚特尔古穆雷斯）。实验结果表明，该控制方法的适用性和它的好处的遥操作性能。
This study presents a teleoperation system for remote control of mobile manipulators over the Internet. A bilateral control algorithm is proposed that can assure both stability and proper force reflection in the presence of non-constant delay in the communication channels between the master and the slave. The control approach in this paper is based on the time domain passivity concept and proposes a modified passivity controller to assure enhanced transparency with bounded control actions in the presence of time-varying communication delay. Transatlantic and inter-European bilateral teleoperation experiments are also reported (Montreal, Canada Tirgu Mures, Romania; Budapest, Hungary Tirgu Mures, Romania). The experimental measurements show the applicability of the control approach and its benefits on the teleoperation performances.