Wave-Based Time Delay Compensation in Bilateral Teleoperation: Two-Channel versus Four-Channel Architectures
Wave-Based Time Delay Compensation in Bilateral Teleoperation: Two-Channel versus Four-Channel Architectures
复制标题
双边远程操作中基于波的时延补偿：两通道与四通道架构
DOI：
--
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
M. Moallem
中科院分区：
文献类型：
--
作者：
A. Aziminejad;M. Tavakoli;Rajnikant V. Patel;M. Moallem
在本文中，已经提出了两种不同的方法，旨在提高基于无源性的延迟补偿遥操作系统的透明度：- 在双通道基于波的控制结构中的直接力反射，其使用与具有波变量的传统的基于位置误差的控制方案相同数量的通道，以及，四通道基于波的控制结构，其能够在存在时间延迟的情况下实现理想的透明度。为了提出一个全面的性能比较，我们量化的透明度，每一种方法，通过实验结果的双边主从系统开发的内窥镜手术应用程序的混合动力参数的等效双端口网络的识别。
In this paper, two different approaches have been proposed aiming to improve transparency of a passivity-based delay-compensated teleoperation system: direct force reflection in a two-channel wave-based control architecture, which uses the same number of channels as the traditional position error- based control scheme with wave variables and, four-channel wave-based control architecture, which is capable of achieving ideal transparency in the presence of time delay. In order to present a comprehensive performance comparison, we quantify the transparency of each approach through subjecting the experimental results of a bilateral master-slave system developed for endoscopic surgery applications to identification of the hybrid parameters of the equivalent two-port network.