Improvement of Performances in Bilateral Teleoperation by Using FPGA
Improvement of Performances in Bilateral Teleoperation by Using FPGA
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DOI：
10.1109/tie.2007.898295
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发表时间：
2007-07
影响因子：
7.7
通讯作者：
E. Ishii;H. Nishi;K. Ohnishi
中科院分区：
文献类型：
--
作者：
E. Ishii;H. Nishi;K. Ohnishi
在许多领域，如空间活动，原子能发电厂的工作，微创手术等都需要双边遥操作，在双边遥操作，敏锐的触觉，这是因为如果操作员直接接触环境，需要转移。在实现敏锐触觉的传递中需要宽频带力信息的感测。一个双边控制器的基础上加速度控制与干扰观测器可实现转移敏锐的触觉。在这种双边控制器中，感测力的频率带宽由干扰观测器中使用的低通滤波器的截止频率确定。截止频率与采样周期成反比。因此，采样周期的缩短提高了双边遥操作的性能。介绍了一种基于现场可编程门阵列（FPGA）的双向遥操作系统。FPGA是一种大规模集成电路，用户可以设计其内部逻辑。当运动控制器在FPGA上实现时，它比在具有实时操作系统的个人计算机中实现的运动控制器运行得更快。通过使用FPGA，采样周期从100 μ s缩短到10 μ s。通过实验对所实现的控制器进行了评价。
Bilateral teleoperation has been needed in many areas, such as space activities, work on an atomic power plant, minimally invasive surgery, etc. In bilateral teleoperation, transfer of keen tactile sense, which is as if the operator directly touches the environment, is required. Sensing of wide-frequency-bandwidth force information is required in achieving the transferring of a keen tactile sensation. A bilateral controller based on acceleration control with disturbance observers is available to achieve transfer of a keen tactile sensation. In this bilateral controller, the frequency bandwidth of sensed force is determined by the cutoff frequency of a low-pass filter used in the disturbance observer. The cutoff frequency is in inverse proportion to a sampling period. Therefore, shortening of the sampling period improves performance of bilateral teleoperation. In this paper, a bilateral-teleoperation system using a field-programmable gate array (FPGA) is introduced. The FPGA is an large scale integration where a user can design its internal logic. When the motion controller is implemented on an FPGA, it operates faster than that implemented in a personal computer with a real-time operating system. The sampling period is shortened from 100 to 10 mus by using an FPGA. The implemented controller is evaluated by experiments.