Multilateral teleoperation control over time-delayed computer networks using wave variables
Multilateral teleoperation control over time-delayed computer networks using wave variables
复制标题
DOI：
10.1109/haptic.2012.6183780
复制
发表时间：
2012-03
期刊：
影响因子：
--
通讯作者：
T. Kanno;Y. Yokokohji
中科院分区：
文献类型：
--
作者：
T. Kanno;Y. Yokokohji
本文提出了一种基于波变量的时滞多边遥操作系统控制方法，该方法可在多个（三个或更多）主/从臂之间同步位置和力。该方法引入了一个波节点，其中连接了多个基于波变量的传输线。这种波节点的行为已被公式化。保证系统的无源性不受任意数量的主/从臂和任意长度的恒定延时的影响。此外，通过引入波积分误差反馈来补偿由于时变延迟引起的位置漂移。实验结果表明，该控制方法实现了双主单从系统的位置和力跟踪。
In this paper, a wave-variables-based control method for time-delayed multilateral teleoperation systems, which synchronizes position and force among multiple (three or more) master/slave arms, is proposed. The proposed method introduces a wave node, where multiple wave-variable-based transmission lines are connected. The behavior of such a wave node is formulated. Passivity of the system is guaranteed against arbitrary number of master/slave arms and arbitrary length of constant time-delay. In addition, position drift due to time-varying delay is compensated by introducing wave-integral-error feedback. Experimental results show that the proposed control method achieves position and force tracking of dual-master-single-slave system.