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首页> 外文会议>World Automation Congress >A NEW APPROACH TO WAVE CONTROLLER DESIGN IN A TIME-DELAYED NONLINEAR TELEROBOTIC SYSTEM
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A NEW APPROACH TO WAVE CONTROLLER DESIGN IN A TIME-DELAYED NONLINEAR TELEROBOTIC SYSTEM

机译：一种新的延迟非线性托管系统中波控制器设计的新方法

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Today's telerobotic systems encounter two major difficulties. The first difficulty is achieving transparency which can be interpreted as reasonable motion/force tracking performance and the second one is the presence of constant/variable time delay in communication channels connecting master and slave sites, leading to a non-passive and unstable system as well as adverse effect on tracking performance. Virtual master manipulator (V.M.M) concept has been proposed to make the telerobotic system transparent while the second difficulty can be removed by connecting master and slave sides in wave domain. Hence, a new wave variable controller design approach is introduced where the wave communication and V.M.M concept are combined to solve these problems simultaneously, while the whole system stability is guaranteed. Finally, a telerobotic system with two D.O.F master/slave manipulators is simulated and the performance of the designed wave variable controller is discussed.
机译：今天的Telerobotic Systems遇到了两个重大困难。第一难度是实现透明度，可以解释为合理的运动/力跟踪性能，第二个是连接主站和从站点的通信信道中的恒定/可变时延的存在，导致非被动和不稳定的系统对跟踪性能的不利影响。已经提出了虚拟主操纵器（V.M）概念，以使Telerobotic系统透明，而第二难度可以通过连接波域中的主侧和从侧来消除。因此，介绍了一种新的波通控制器设计方法，其中将波浪通信和v.m.m概念组合以同时解决这些问题，而整体系统稳定性得到保证。最后，模拟了具有两个D.O.F主/从操纵器的托管系统，并讨论了设计的波变量控制器的性能。

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