Stabilization Through Gyration: A Wave Variable Approach to High Frequency Force Feedback in Telerobotics
Stabilization Through Gyration: A Wave Variable Approach to High Frequency Force Feedback in Telerobotics
复制标题
通过回转实现稳定：遥控机器人中高频力反馈的波变量方法
DOI：
10.1109/vr.2006.124
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
G. Niemeyer
中科院分区：
文献类型：
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作者：
N. A. Tanner;G. Niemeyer
人们普遍认为，对用户的高频力反馈对于实现真实的远程机器人体验至关重要。然而，在与刚性环境相互作用时，测量到的力的反馈可能会引发接触不稳定。我们提出了一种基于波动变量设计的新颖反馈方法，利用了两种波动特征。首先，稳定性与滞后或过滤无关。其次，波信号本质上描述了功率流，从而将稳定性与信号调节联系起来。由此产生的力反馈架构将传统位置-位置和位置-力方法的优点与遥控机器人控制器中通常不存在的附加元件（回转器）相结合。无论环境刚度如何，它都是稳定的，传输高频力而不会滚降，甚至可以容忍延迟。我们通过简单的实验测试验证了这种性能，研究了回转器的效果，并表明它在保持这种鲁棒稳定性方面发挥着关键作用。
High frequency force feedback to a user is commonly recognized as vital to achieving a realistic telerobotic experience. However, the feedback of measured forces can trigger contact instabilities when interacting with stiff environments. We present a novel feedback approach based on wave variable design, taking advantage of two wave features. First, stability is independent of lag or filtering. Secondly, wave signals inherently describe power flow, thus connecting stability to signal conditioning. The resulting force feedback architecture combines the best of the traditional position-position and position-force methods with an additional element typically not seen in telerobotic controllers – a gyrator. It is stable regardless of the environment stiffness, transmits high frequency forces without roll-off, and is even tolerant to delay. We verify this performance with simple experimental tests, investigate the effects of the gyrator, and show that it plays a critical role in maintaining such robust stability.