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Realization of Simultaneity in Bilateral Teleoperation System under Time Delay

机译:在延迟下双侧漫步系统中同时性的实现

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Bilateral teleoperation is a research area that have been studied for years. Bilateral control system realizes bilateral teleoperation with force sensation feedback to the operator. However, when two systems are placed far from each other, time delay is included inside the control system. The time delay impedes the momentary realization of control goals,consequently destabilizing the whole control system and degrading the force sensation. Therefore this paper proposes a control system that realizes position synchronization in bilateral control under communication delay. One of the control goal is realized regardless of the time delay by using the proposed method. The phase lag compensator is used for stabilizing the control system. The physical meaning of the phase compensator is disclosed in the paper. Experiments were conducted to verify the validity of the proposed method.
机译:双侧耳机是一项研究区域,已研究过多年。双侧控制系统实现了双边遥操作,具有对操作员的力传感反馈。然而,当两个系统彼此远远时,控制系统内包括时间延迟。时间延迟阻碍了对照目标的瞬间实现,从而使整个控制系统稳定并降低力感。因此,本文提出了一种控制系统,可在通信延迟下实现双边控制中的位置同步。无论使用所提出的方法如何,都会实现控制目标之一。相滞后补偿器用于稳定控制系统。本文公开了相位补偿器的物理含义。进行实验以验证该方法的有效性。

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