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Time delay compensation for force controller in bilateral teleoperation system under time delay

机译：时滞下双边遥操作系统力控制器的时延补偿

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摘要

Time delay compensation is very important in the teleoperation field because time delay deteriorates the system performance and stability. Therefore, a lot of research about time delay compensation have been proposed and developed. One of the effective methods, communication disturbance observer (CDOB) has realized the time delay compensation for the position tracking in bilateral teleoperation. Thanks to CDOB, the smooth operation has been achieved. However, the precise force matching has not been achieved yet by any methods. To solve this problem, the time delay compensation method for the force control system has been proposed. This method realizes the precise contact force control under time delay. Therefore, the time delay compensation method is extended to bilateral teleoperation in this paper. In other words, the time delay compensation for the force controller in the bilateral teleoperation system is proposed toward the precise force matching. The validity is confirmed by the experiments.
机译：时延补偿在远程操作领域中非常重要，因为时延会降低系统性能和稳定性。因此，已经提出并发展了许多关于时延补偿的研究。通信干扰观测器（CDOB）是一种有效的方法，已经实现了双边遥测中位置跟踪的时延补偿。借助CDOB，可以实现顺畅的操作。然而，还没有通过任何方法实现精确的力匹配。为了解决这个问题，提出了一种用于力控制系统的时延补偿方法。该方法实现了时间延迟下的精确接触力控制。因此，本文将时延补偿方法扩展到双边遥操作中。换句话说，为实现精确的力匹配，提出了在双边遥操作系统中用于力控制器的时延补偿。实验证实了有效性。

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