Adaptive Wave Reconstruction Through Regulated-BMFLC for Transparency-Enhanced Telerobotics Over Delayed Networks
Adaptive Wave Reconstruction Through Regulated-BMFLC for Transparency-Enhanced Telerobotics Over Delayed Networks
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DOI：
10.1109/tro.2022.3158195
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发表时间：
2022-10
影响因子：
7.8
通讯作者：
N. Feizi;Rajnikant V. Patel;M. Kermani;S. F. Atashzar
中科院分区：
文献类型：
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作者：
N. Feizi;Rajnikant V. Patel;M. Kermani;S. F. Atashzar
双边遥控机器人系统在过去的二十年中吸引了大量的兴趣。该领域的主要挑战是远程力渲染的透明性和稳定性，这会受到网络延迟的影响，导致动作和相应的反应之间的延迟。此外，稳定器的过度激活进一步降低了渲染力场的保真度。在这篇文章中，提出了一种基于频率的实时延迟补偿方法，以最大限度地提高透明度，同时减少稳定层的激活。该算法使用一个调节的有界有限多傅立叶线性组合器来提取力波的主频率。估计的权重与相对相位超前的谐波核结合使用以重构信号并生成补偿波以减小延迟的影响。然后，重构的力将通过调制时域无源控制器，以保证系统的稳定性。我们将表明，所提出的技术将减少40%的力跟踪误差和79%的稳定器的激活。它示出，第一次，通过利用在线自适应基于频率的预测，通过delayednetworks的传输波之间的相互干扰可以显着减轻，同时可以保证稳定性与较少的激活的稳定层。
Bilateral telerobotic systems have attracted a great deal of interest during the last two decades. The major challenges in this field are the transparency and stability of remote force rendering, which are affected by network delays causing asynchrony between the actions and the corresponding reactions. In addition, the overactivation of stabilizers further degrades the fidelity of the rendered force field. In this article, a real-time frequency-based delay compensation approach is proposed to maximize transparency while reducing the activation of the stabilization layer. The algorithm uses a regulated bound-limited multiple Fourier linear combiner to extract the dominant frequency of force waves. The estimated weights are used in conjunction with the relatively phase-lead harmonic kernels to reconstruct the signal and generate a compensated wave to reduce the effect of the delay. The reconstructed force will then pass through a modulated time-domain passivity controller to guarantee the stability of the system. We will show that the proposed technique will reduce the force-tracking error by 40% and the activation of the stabilizer by 79%. It is shown, for the first time, that through the utilization of online adaptive frequency-based prediction, the asynchrony between transmitted waves through delayednetworks can be significantly mitigated while stability can be guaranteed with less activation of the stabilization layer.