Bilateral Telemanipulation With Time Delays: A Two-Layer Approach Combining Passivity and Transparency
Bilateral Telemanipulation With Time Delays: A Two-Layer Approach Combining Passivity and Transparency
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DOI：
10.1109/tro.2011.2142430
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发表时间：
2011-08-01
影响因子：
7.8
通讯作者：
Macchelli, Alessandro
中科院分区：
文献类型：
--
作者：
Franken, Michel;Stramigioli, Stefano;Macchelli, Alessandro
在本文中，提出了一种两层方法来保证双边遥控系统在存在时变不稳定因素（如硬接触、放松用户抓取、僵硬控制设置和/或通信延迟）时的稳定行为。这种方法将控制体系结构分成两个独立的层。分层的顶层用于实现解决所需透明度的策略，下层确保不产生“虚拟”能量。这意味着任何双边控制器都可以以被动方式实现。独立的通信通道连接从端和主端各层，以便与交换能量有关的信息与有关期望行为的信息完全分离。此外，所提出的实现不依赖于关于通信信道中时间延迟的任何类型的假设。通过完全分离被动性和透明性的属性，每一层都可以容纳任意数量的不同实现，从而实现几乎独立的优化。实验结果表明了该框架的有效性。
In this paper, a two-layer approach is presented to guarantee the stable behavior of bilateral telemanipulation systems in the presence of time-varying destabilizing factors such as hard contacts, relaxed user grasps, stiff control settings, and/or communication delays. The approach splits the control architecture into two separate layers. The hierarchical top layer is used to implement a strategy that addresses the desired transparency, and the lower layer ensures that no "virtual" energy is generated. This means that any bilateral controller can be implemented in a passive manner. Separate communication channels connect the layers at the slave and master sides so that information related to exchanged energy is completely separated from information about the desired behavior. Furthermore, the proposed implementation does not depend on any type of assumption about the time delay in the communication channel. By complete separation of the properties of passivity and transparency, each layer can accommodate any number of different implementations that allow for almost independent optimization. Experimental results are presented, which highlight the benefit of the proposed framework.