Analysis and compensation of operational force in bilateral control systems under time-varying delay

Yoshiki Ohno, N. Yoshimura, K. Ohnishi
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Abstract

This paper proposes a method to eliminate scratchy feeling in bilateral control systems under time-varying delay. 4-channel bilateral control system is a technique which can transmit haptic sense to remote place with two robots, master and slave. However, when network is used for data transmission, time delay occurs and it degrades the stability of the systems and increases operational force. Furthermore, if the time delay is time-varying, operator feels uncomfortable scratchy sensation in addition to the operational force. Therefore, this paper proposes a method to compensate the effect of time-varying delay in 4-channel bilateral control systems. First, it is cleared that the scratchy feeling can be regarded as high frequency communicative operational force and that it can be calculated in real time quantitatively. Then, elimination method for the scratchy feeling is proposed from the view of operational force. Proposed method can compensate only the effect of delay variation without any delay time model. The validities of proposed methods are verified by some experiments.
时变时滞下双边控制系统运行力分析与补偿
本文提出了一种消除时变时滞下双边控制系统的划痕感的方法。四通道双边控制系统是一种由主从两个机器人将触觉传递到远程位置的技术。但是,当使用网络进行数据传输时,会产生时间延迟,降低系统的稳定性,增加操作力。此外,如果时间延迟是时变的,除了操作力之外,操作员还会感到不舒服的划痕感。因此,本文提出了一种补偿四通道双边控制系统时变延迟影响的方法。首先,明确了划痕感可视为高频通信作战力,并可实时定量计算。然后,从作战力的角度提出了消除摩擦感的方法。该方法只补偿时延变化的影响,不需要建立时延模型。通过实验验证了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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