TY - JOUR
T1 - Asymmetric dual-user shared control method and its performance analysis for space teleoperation
AU - Lu, Zhenyu
AU - Huang, Panfeng
AU - Dai, Pei
N1 - Publisher Copyright:
© 2016, Press of Chinese Journal of Aeronautics. All right reserved.
PY - 2016/2/25
Y1 - 2016/2/25
N2 - The technique of multi-master multi-salve teleoperation is one of future space teleoperation tendencies. After summarizing the current studies about dual-master single slave teleoperation control mode, we propose a kind of asymmetric dual-user shared teleoperation method for space manipulation. Firstly, we analyze the ideal transparency of dual-user teleoperation, discriminate the difference of multi-dominant parameters and build the model of asymmetric dual-user teleoperation system under the influence of delay. Then the functions of transparency transfer, range of achievable impedance, performance distance and transmitted impedance rate are built to compare and analyze the influence of dominant parameters, control impedance and environment impedance to the kinesthetic performance of dual-user teleoperation. Finally, the simulations and experiments are taken to certify the effectiveness of the proposed method. The simulation results represent that the transparency and the anti-delay performance of the asymmetric dual-user shared control method are better than the traditional method.
AB - The technique of multi-master multi-salve teleoperation is one of future space teleoperation tendencies. After summarizing the current studies about dual-master single slave teleoperation control mode, we propose a kind of asymmetric dual-user shared teleoperation method for space manipulation. Firstly, we analyze the ideal transparency of dual-user teleoperation, discriminate the difference of multi-dominant parameters and build the model of asymmetric dual-user teleoperation system under the influence of delay. Then the functions of transparency transfer, range of achievable impedance, performance distance and transmitted impedance rate are built to compare and analyze the influence of dominant parameters, control impedance and environment impedance to the kinesthetic performance of dual-user teleoperation. Finally, the simulations and experiments are taken to certify the effectiveness of the proposed method. The simulation results represent that the transparency and the anti-delay performance of the asymmetric dual-user shared control method are better than the traditional method.
KW - Asymmetric dual-user shared control
KW - Dominant parameters
KW - Performance analysis
KW - Teleoperation
KW - Transparency
UR - http://www.scopus.com/inward/record.url?scp=84961774709&partnerID=8YFLogxK
U2 - 10.7527/S1000-6893.2015.0211
DO - 10.7527/S1000-6893.2015.0211
M3 - 文章
AN - SCOPUS:84961774709
SN - 1000-6893
VL - 37
SP - 648
EP - 661
JO - Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica
JF - Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica
IS - 2
ER -