Stabilization of bilateral control in remote robot system
Stabilization of bilateral control in remote robot system
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远程机器人系统双边控制的稳定性
DOI：
10.1109/ccoms.2018.8463335
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Ishibashi Yutaka
中科院分区：
文献类型：
--
作者：
Huang Pingguo;M. Takanori;Ishibashi Yutaka
指出了具有触觉的遥操作机器人系统在通信延迟条件下的失稳现象，并提出了利用粘性来减轻这种现象的对策。但其作用机制尚不清楚。本文提出了利用差分微分方程分析系统稳定性的公式化。从这个公式中，得到了一种情况下的稳定性条件，并提出了一个解释粘性效应的条件。最后给出了一个算例，分析了算子特性对系统稳定性的影响，并提出了相应的抑制方法。
Destabilizations are pointed out in the remote robot systems with haptics under the condition of telecommunication delay and the countermeasure for mitigating these phenomenon by using viscosity have been proposed. But the mechanism is not clarified sufficiently. This paper proposes a formulization of analysis of the stability of the systems by using the difference differential equations. From this formulization, the stability condition of a certain case is obtained and one of elucidation of the effect of viscosity has been proposed. Moreover, an example that the characteristics' of operator influences the stability and the mitigation method has been investigated.