A model-based space teleoperation system with robustness against modeling errors
A model-based space teleoperation system with robustness against modeling errors
复制标题
一种基于模型的空间遥操作系统，具有针对建模错误的鲁棒性
DOI：
10.1109/robot.1997.614368
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
M. Uchiyama
中科院分区：
文献类型：
--
作者：
Y. Tsumaki;M. Uchiyama
长时延遥操作会导致双边控制不稳定。在虚拟现实的帮助下，可以找到解决问题的可能性。从虚拟世界反射的力不依赖于系统中现有的时间延迟。不幸的是，基于虚拟现实的系统强烈依赖于模型的准确性。在本文中，我们提出了一个遥操作系统，这是强大的建模误差，包括几何和动态的。通过同时使用力和位置信息来生成参考力命令。实验证明了该方法的有效性。
Teleoperation with long time delay causes bilateral control to become unstable. A possible solution to the problem can be found with the help of virtual reality. Forces, reflected from the virtual world, do not depend upon the existing time delay in the system. Unfortunately, virtual reality based systems strongly depend on the accuracy of the model. In this paper we propose a teleoperation system which is robust to modeling errors, including geometric and dynamic ones. The reference force command is generated by using both force and position information simultaneously. The effectiveness of our approach is confirmed by experiments.