Analysis of effective impedance transmitted to the operator in position-exchange bilateral teleoperation
Analysis of effective impedance transmitted to the operator in position-exchange bilateral teleoperation
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DOI：
10.1109/whc.2017.7989923
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发表时间：
2017-06
期刊：
影响因子：
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通讯作者：
Nick Colonnese;A. Okamura
中科院分区：
文献类型：
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作者：
Nick Colonnese;A. Okamura
在本文中，我们分析了阻抗传输到操作员的位置交换双边遥操作，包括主和从动态，本地和通信时间延迟，低通滤波的速度估计，和控制器的刚度和阻尼的影响，为三个不同的环境动态：自由，夹紧，和质量阻尼弹簧。我们显示了阻抗传输的运营商数字使用有效阻抗，一个概念性的工具，将阻抗分解成组件的物理模拟，并提出了符号表达式的有效刚度和阻尼传输到运营商在低频率。我们的研究结果表明，本地和通信时间延迟不显着影响的有效刚度，强烈影响有效阻尼，和微弱的影响传递到操作员的有效质量。低通滤波器截止频率对传输至操作员的阻抗的影响不同，具体取决于环境阻抗。在许多情况下，增加截止频率主要增加有效阻尼带宽。增加控制器刚度会增加在低频时传递给操作者的有效刚度，但在较高频率时会显著改变有效刚度、阻尼和质量。实验数据收集使用双边telemanipulator组成的两个幻影保费1.5机器人与定制的环境进行交互验证了理论分析。
In this paper, we analyze the impedance transmitted to the operator in position-exchange bilateral teleoperation including the effects of master and slave dynamics, local and communication time delay, low-pass filtering of the velocity estimate, and controller stiffness and damping, for three different environment dynamics: free, clamped, and a mass-damper-spring. We show the impedance transmitted the operator numerically using effective impedances, a conceptual tool that decomposes the impedance into components with physical analogs, and also present symbolic expressions for the effective stiffness and damping transmitted to the operator at low frequencies. Our results show that local and communication time delay do not significantly affect the effective stiffness, strongly affect effective damping, and weakly affect effective mass transmitted to the operator. The low-pass filter cut-off frequency affects the impedance transmitted to the operator differently depending on the environment impedance. For many cases, increasing the cutoff frequency primarily increases the effective damping bandwidth. Increasing controller stiffness increases the effective stiffness transmitted to the operator at low frequencies, but can significantly change the effective stiffness, damping, and mass, at higher frequencies. Experimental data gathered using a bilateral telemanipulator consisting of two Phantom Premium 1.5 robots interacting with a custom-made environment validates the theoretical analysis.