基于被动的功率缩放遥操作同步控制

2006 SICE-ICASE International Joint Conference Pub Date : 2006-12-01 DOI:10.1109/SICE.2006.315799

H. Kawada, T. Namerikawa

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引用次数: 1

摘要

研究了考虑位置跟踪和功率缩放的遥操作无源同步控制。在该方法中，主从机器人之间的运动和力关系可以自由指定。利用系统的无源性和李雅普诺夫稳定性方法，证明了具有通信延迟和功率缩放的遥操作系统的渐近稳定性。实验结果表明了该方法的有效性

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Passivity-based Synchronized Control of Teleoperation with Power Scaling

This paper deals with the passivity-based synchronized control of teleoperation considering position tracking and power scaling. In the proposed method, the motion and the force relation between the master and slave robots can be specified freely. Using a passivity of the systems and Lyapunov stability methods, the asymptotic stability of teleoperation with communication delay and power scaling is proven. Several experimental results show the effectiveness of our proposed method

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2006 SICE-ICASE International Joint Conference

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