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Control in the operational space of bilateral teleoperators with time-delays and without velocity measurements ?

机译：带有时间延迟且不进行速度测量的双边远程操作员的操作空间控制 ？

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摘要

This paper proposes a control scheme in the operational space for bilateral teleoperation systems composed of heterogeneous robots (kinematically and dynamically different) without velocity sensors and considering variable time-delays in the interconnection. The proposed control scheme use a second order dynamical controller that back-propagates damping to the local and the remote manipulators. Under the assumptions that the human operator and the environment define passive maps from force to velocity, it is proved that velocities and pose (position and orientation) errors between the local and the remote manipulators are bounded. Moreover, in the case that the human and the environment forces are zero, the velocities and pose errors converge asymptotically to zero. The proposed approach employs, the singularity-free, unit-quaternions to represent the orientation of the end-effectors. The performance of the proposed controller is illustrated via simulations with a teleoperation system composed of robots with 3-DoF and 7-DoF.
机译：本文提出了一种由不具速度传感器并考虑互连中可变时滞的异构机器人（运动和动态不同）组成的双边远程操作系统在操作空间中的控制方案。所提出的控制方案使用二阶动态控制器，该控制器将阻尼反向传播到本地和远程操纵器。在操作人员和环境定义从力到速度的被动映射的假设下，证明了本地和远程操纵器之间的速度和姿势（位置和方向）误差是有界的。此外，在人和环境力为零的情况下，速度和姿势误差渐近收敛于零。所提出的方法采用无奇点的单元四元数来表示末端执行器的方向。拟议的控制器的性能通过包含3自由度和7自由度机器人的远程操作系统的仿真进行了说明。

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