A Bilateral Controller Design Method Using Delay Compensators
A Bilateral Controller Design Method Using Delay Compensators
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一种使用延迟补偿器的双边控制器设计方法
DOI：
10.1109/icit.2006.372367
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. Takahata
中科院分区：
文献类型：
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作者：
N. Iiyama;K. Natori;R. Kubo;K. Ohnishi;H. Furukawa;K. Miura;M. Takahata
由于通信时延是双边控制系统的一个严重问题，迄今为止，针对时延双边遥操作中的时延补偿进行了大量的研究。有些延迟补偿器是为了消除反馈控制的相位滞后而设计的，适用于4通道控制器。然而，即使将这些补偿器应用于具有时间延迟的传统双边 4ch 控制器，也并不总是能获得期望的结果。这是因为这些补偿器没有考虑力控制器。本文提出了一种双边 4 通道控制器，在考虑力控制器的情况下应用了延迟补偿器。所提出的控制器旨在仅使用 2 个自由度 (DOF) 来控制主机器人和从机器人的位置和力。一个自由度用于位置控制，另一个自由度用于力控制。因此，位置控制器和力控制器由主从机器人共享。如果延迟补偿器应用于所提出的双边控制器，则主机器人的位置和力响应分别与从机器人的这些值相对应。通过仿真和实验结果验证了该方法的有效性。
Since communication time delay is a serious problem for bilateral control systems, a great number of researches about delay compensation in bilateral teleoperation with time delay have been studied so far. Some of delay compensators are designed to eliminate phase lag of feedback control and applicable to 4ch-controllers. However, the desired results are not always obtained, even though those compensators are applied to the conventional bilateral 4ch-controller with time delay. This is because these compensators do not take force controllers into account. This paper presents a bilateral 4ch-controller that delay compensators are applied to by considering the force controllers. The proposed controller is designed to control both position and force of a master robot and a slave robot by using only 2 degrees of freedom (DOF). One DOF is utilized for position control, and the other is utilized for force control. Therefore, the position controller and the force controller are shared by the master and slave robots. If delay compensators are applied to the proposed bilateral controller, position and force responses of the master robot correspond with those values of the slave robot, respectively. The validity of the proposed method is verified by simulation and experimental results.