Teleoperation with soft sensation based on Transformer and Gyrator Theorems
Teleoperation with soft sensation based on Transformer and Gyrator Theorems
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基于 Transformer 和 Gyrator 定理的软感觉遥控操作
DOI：
10.1109/icit.2006.372371
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
A. Muis;K. Ohnishi
理想情况下，双边远程操作将是完全透明的，因此操作员感觉他们正在与远程任务直接交互。然而，两个系统之间互连存在的延迟会降低系统性能。解决这个问题有两种主要方法。关注交互安全性和稳定性的人认为远程操作是一种被动系统。其余的则考虑延迟操纵以在有限的稳定性下获得稳健的性能。显然，双边系统就像电路中的变压器和回转器一样，是一个二端口系统。为了实现稳定，人们付出了巨大的努力。然而，本文以不同的方式提出了基于变压器和回转器类比相结合的双边远程操作。尽管透明度较低，但该方法提供了延迟遥操作的柔和感觉。通过实验结果证实了该方法的有效性。
Ideally, a bilateral teleoperation would be completely transparent, so the operators feel that they are directly interacting with the remote task, However, the delay presence in interconnection between both systems, degrade system performance. There have been two major approaches to this problem. The one who concerns on interaction safety and stability, considers teleoperation as a passive system. The rest considers delay manipulation to attain robust performance with limited stability. Obviously, bilateral system is a two-port system just like transformer and gyrator in electrical circuit. There has been tremendous effort to apply gyration for stabilization. However, this paper in different way proposes bilateral teleoperation based on combination of transformer and gyrator analogies. Although with less transparency, this method provides soft sensation on delayed teleoperation. The validity of this method is confirmed through experimental results.