DocumentCode :
3218418
Title :
Improving the Transparency of Teleoperating System
Author :
Deng Qi-wen ; Wei Qing ; Li Ze-xiang
Author_Institution :
Coll. of Mechatronics & Autom., Nat. Univ. of Defense Technol., Changsha, China
fYear :
2006
fDate :
7-11 Aug. 2006
Firstpage :
861
Lastpage :
866
Abstract :
Firstly, bilateral PID algorithm of time delayed force feedback teleoperating system based absolute stability is introduced. Its influence on the transparency is analysed using impedance theory. On this analysis, two algorithms are put forward to improve system transparency. In the first algorithm, the control force of slave is feedback to master. This algorithm can improve system transparency when slave moves freely. But, when the environment of slave changed, parameters change is required. In the second algorithm, force sensor is used to measure the force between the slave and environment, its result is feedback to master. This algorithm can improved system transparency, either the slave is moved freely or hard contact. Simulation and experiment validated these algorithms.
Keywords :
absolute stability; delay systems; force feedback; force measurement; telerobotics; three-term control; bilateral PID algorithm; control force; force measurement; force sensor; impedance theory; teleoperating system transparency; time delayed force feedback teleoperating system based absolute stability; Automation; Educational institutions; Force control; Force feedback; Force measurement; Force sensors; Master-slave; Mechatronics; Stability; Tin; Stability; Transparency; absolute stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference, 2006. CCC 2006. Chinese
Conference_Location :
Harbin
Print_ISBN :
7-81077-802-1
Type :
conf
DOI :
10.1109/CHICC.2006.280776
Filename :
4060648
Link To Document :
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