TY - GEN
T1 - Time delayed teleoperation with stable tracking and high feedback fidelity using modified wave variable
AU - Dai, Pei
AU - Huang, Panfeng
AU - Lu, Zhenyu
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - In wave-variable-based teleoperation system, stable tracking remains difficult to achieve due to the bias term and wave reflection. Another main objective of teleoperation is to achieve high feedback fidelity. For improving the position tracking performance and enhancing the force feedback fidelity in time delayed teleoperation, a modified wave variable method is proposed in this paper. This method compensates backward wave variable based on the forward wave variable compensation method. In order to guarantee system passivity, this method use energy reservoir to regulate the compensation terms in backward communication channel. The simulation results reveal that this method reduces the force tracking deviation to the one sixth of the ones in forward wave variable compensation method. Eventually, the goal of stable position tracking and high force feedback fidelity are achieved under the conditions of insuring system passivity.
AB - In wave-variable-based teleoperation system, stable tracking remains difficult to achieve due to the bias term and wave reflection. Another main objective of teleoperation is to achieve high feedback fidelity. For improving the position tracking performance and enhancing the force feedback fidelity in time delayed teleoperation, a modified wave variable method is proposed in this paper. This method compensates backward wave variable based on the forward wave variable compensation method. In order to guarantee system passivity, this method use energy reservoir to regulate the compensation terms in backward communication channel. The simulation results reveal that this method reduces the force tracking deviation to the one sixth of the ones in forward wave variable compensation method. Eventually, the goal of stable position tracking and high force feedback fidelity are achieved under the conditions of insuring system passivity.
UR - https://www.scopus.com/pages/publications/84964533601
U2 - 10.1109/ROBIO.2015.7418813
DO - 10.1109/ROBIO.2015.7418813
M3 - 会议稿件
AN - SCOPUS:84964533601
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 476
EP - 480
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Biomimetics, ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -