時変の通信遅延を有する非線形テレオペレーションのバイラテラル制御

概要

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This paper addresses the bilateral control of nonlinear teleoperation with time varying delays. The proposed control strategies are two types of simple PD-type controllers which directly connect the master and slave robots by position and velocity signals over the delayed communication. For the velocity control, the first controller has a time varying D-gains which depend on the rate of change of delays and the second one has a constant D-gains which are designed under stability condition. Moreover the both controllers have explicit position feedback/feedforward control. Using Lyapunov-Krasovskii function, the delay-depend stability of the origin is shown for the range of the gains. Furthermore the proposed framework enforces master-slave position coordination and static force reflection. Several simulation and experimental results show the effectiveness of our proposed framework.
公益社団法人計測自動制御学会の論文