Experimental quantitative comparison of different control architectures for master-slave teleoperation
Experimental quantitative comparison of different control architectures for master-slave teleoperation
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DOI：
10.1109/tcst.2003.819586
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发表时间：
2004-02
影响因子：
4.8
通讯作者：
Iñaki Aliaga;Angel Rubio;E. Sánchez
中科院分区：
文献类型：
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作者：
Iñaki Aliaga;Angel Rubio;E. Sánchez
不同的遥操作体系结构和系统之间的实验评估和客观/定量比较的程序。它是基于不同的矩阵，可以定义的遥控系统（两个端口表示）和一组四个参数的选择，很容易通过简单的实验估计的分析：自由运动阻抗，在自由运动的位置跟踪，在硬接触任务的力跟踪和最大可传输阻抗。这些参数提供了主从系统的完整表征，并具有清晰的物理解释。此外，它们不需要从机器人的操纵，这在重型或不可接近的工业机器人的情况下非常有用。该方法已被应用到比较位置（PP），力位置（FP），和四通道（4C）控制器在2自由度主从系统。所有四个参数的实验测量将显示，证明4C架构明显优于任何其他。
A procedure for experimental evaluation and objective/quantitative comparison among the different teleoperation architectures and systems is proposed. It is based on the analysis of the different matrices that can define the teleoperated system (two-port representations) and the selection of a set of four parameters that are easy to estimate via simple experimentation: free motion impedance, position tracking in free movement, force tracking in hard contact tasks and maximum transmittable impedance. These parameters provide complete characterization of the master-slave system and have clear physical interpretation. Furthermore, they require no maneouvering of the slave robot, which is very useful in the case of heavy or nonaccessible industrial robots. The method has been applied to compare position-position (PP), force-position (FP), and four-channel (4C) controllers in a 2 DOF master-slave system. Experimental measuring for all four parameters will be shown, proving the 4C architecture clearly better than any other.