Analysis and Design of Position-Force Teleoperation with Scattering Matrix
Analysis and Design of Position-Force Teleoperation with Scattering Matrix
复制标题
散射矩阵位力遥操作分析与设计
DOI：
10.3182/20080706-5-kr-1001.02151
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Erick J. Rodríguez
中科院分区：
文献类型：
--
作者：
M. Duong;T. Miyoshi;K. Terashima;Erick J. Rodríguez
提出了一种基于补偿器和滤波器的位置-力双向遥操作系统的设计方法。首先根据小增益原理选择补偿器和低通滤波器，保证系统的稳定性。在此基础上，分析了波阻抗和时滞对系统刚度和粘性的影响。此外，振荡的存在，甚至不稳定的本地环路所造成的远程环境的属性，被承认和解释。最后，利用波波夫判据给出了设计参数使系统稳定的条件.
This paper presents a design method for a position-force bilateral teleoperation system with scattering matrix by using compensators and wave filters. At first, the compensators and low-pass filters were chosen to guarantee the system's stability based on the small-gain theorem. After that, the effects of wave impedance and time delay on the stiffness and the viscosity of the system were evaluated. Moreover, the existence of oscillation, and even instability of the local loop caused by properties of remote environment, are recognized and explained. Finally, the conditions for the designed parameters to stabilize the system are given using Popov criterion.