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首页> 外文期刊>Control Systems Technology, IEEE Transactions on >Wave Correction Scheme for Task Space Control of Time-Varying Delayed Teleoperation Systems
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Wave Correction Scheme for Task Space Control of Time-Varying Delayed Teleoperation Systems

机译：时变时滞遥操作系统任务空间控制的波校正方案

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摘要

This brief presents a novel method in wave variable approach for controlling the SE(3) task space manipulation of the teleoperation system over time-varying delayed communication. The scheme modulates typical wave commands using corrective waves to address the motion/effort mismatch largely caused by time-varying delay and environmental impedance. These corrections are computed based on the difference between the desired and fictitious poses obtained from integrating/propagating nondistorted wave variables. Resulting waves ensure the pose and, moreover, effort tracking of the teleoperation system under appropriate conditions. Passivity of the system is guaranteed by the nonnegative power dissipation constraint on the corrective wave signals, or by the help of dissipative elements in the controllers. Therefore, the scheme may be integrated to the master/slave robots controlled with passive motion/force controllers. Specific application to the teleoperation system with the proportional-derivative controllers is studied.
机译：本文简要介绍了一种基于波动变量方法的新颖方法，用于控制时变延迟通信下远程操作系统的SE（3）任务空间操纵。该方案使用校正波来调制典型的波指令，以解决很大程度上由时变延迟和环境阻抗引起的运动/努力失配。这些校正是根据从积分/传播非失真波变量获得的理想姿势和虚拟姿势之间的差异计算的。产生的波确保了在适当条件下对远程操作系统的姿态以及努力跟踪。系统的无源性是通过对校正波信号的非负功耗约束或通过控制器中的耗散元件来保证的。因此，该方案可以集成到由被动运动/力控制器控制的主/从机器人上。研究了带有比例微分控制器的遥操作系统的具体应用。

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