Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer
Performance conditioning of time delayed bilateral teleoperation system by scaling down compensation value of communication disturbance observer
复制标题
缩小通信扰动观测器补偿值调节时滞双向遥操作系统性能
DOI：
10.1109/amc.2010.5464075
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
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作者：
A. Suzuki;K. Ohnishi
双侧控制系统的时滞严重影响了系统的性能和稳定性。提出了一种基于网络干扰（ND）和通信干扰观测器（CDOB）概念的时延补偿方法，并验证了该方法的有效性。CDOB时滞补偿提高了主机器人的“可操作性”，但同时也降低了环境阻抗的“再现性”。本文提出仅在与环境接触运动时减小CDOB补偿值（SDCV），以实现良好的再现性和可操作性。通过将补偿值从0减小到1.0，提高了所有频率范围内的再现性。实验结果验证了该方法的有效性。
Time delay in bilateral control system seriously deteriorates the performance and stability. A time delay compensation method based on the concept of network disturbance (ND) and communication disturbance obsrver (CDOB) has been proposed and the validity has been verified so far. Time delay compensation by CDOB improves the “Operationality” of master robot but simultaneously deteriorates “Reproducibility” of environmental impedance. This paper proposes scaling down compensation value(SDCV) of CDOB only in contact motion with an environment to realize both good reproducibility and operationality. Reproducibility is improved in all frequency range by scaling down compensation value from 0 to 1.0. The validity of proposal is verified by experimental results.
具有通信干扰观测器的时滞双边遥操作系统的透明性
DOI：
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发表时间：
2007
期刊：
影响因子：
--
作者：
Kuratsu;M.;倉津将人;江崎俊朗;竹田拓馬;藍孝征;藍孝征;藍孝征;藍孝征;岡田恵次;倉津将人;熊谷祐;江崎俊朗;竹田拓馬;Keiji Okada;Masato Kuratsu;Masato Kuratsu;Keiji Okada;鈴木 修一;Masato Kuratsu;増田 有希;倉津 将人;藍 孝征;Masato Kuratsu;Masato Kuratsu;Kouhei Ohnishi;須佐繁;K. Fukaya;矢代大祐;矢代大祐;Kenji Natori;T. Kimura;名取賢二;Kenji Natori;名取賢二;K. Kajino;名取賢二;T. Kimura;Kenji Natori;Ryogo Kubo;木村大至;飯山法子;T. Kimura;名取賢二;Akira Yamaguchi;M. Inoue;Aryabhima A. Rahman;Shigeru Susa;Kenji Natori;K. Kajino;木村 大至;Kenji Natori;T. Kimura;T. Kimura;Kenji Natori;名取賢二;Kenji Natori;Kenji Natori;Kenji Natori
通讯作者：
Kenji Natori