论文标题
双边受控远程操作系统的离散时间对应物的消极分析
Passivity Analysis of Discrete-time Counterparts of the Bilateral Controlled Teleoperation Systems
论文作者
论文摘要
本文介绍了离散时间双边远距离系统的被动性条件的分析。考虑主奴隶远程流动系统的离散时间控制器可以简化其实现。已将各种控制方案用于基于位置误差的双边远程操作系统的架构，并研究了主要问题，例如被动性和透明度。本文考虑了类似Plike，PD样和PD样 +耗散控制器的离散对应物的消极性条件。这些条件对控制器的收益，主和奴隶机器人的阻尼以及采样时间施加了界限，这些时间可以帮助研究人员提供指导方针，以具有更好的透明度和被动的遥控系统。进行仿真结果以显示所提出的标准的有效性。
This paper presents an analysis of the passivity condition for discrete-time bilateral teleoperation systems. Considering discrete-time controllers for a master-slave teleoperation system can simplify its implementation. Varieties of control schemes have been utilized for the position error based architecture of bilateral teleoperation systems and major concerns such as passivity and transparency have been studied. This paper takes into account the passivity conditions for the discrete counterparts of P-like, PD-like, and PD-like + dissipation controllers. These conditions impose bounds on the controller gains, the damping of the master and slave robots, and the sampling time which help researchers to provide guidelines to have better transparency and passive teleoperation systems. Simulation results are performed to show the effectiveness of the proposed criteria.
