Improvement in the conservatism of the time domain passivity approach in delayed position-position teleoperation system

被引：0
|
作者：
Salehi, Mohsen [1 ]
Ahmadi, Ali-Akbar [1 ]
机构：
[1] Kharazmi Univ, Fac Engn, Elect & Comp Engn Dept, Tehran 1571914911, Iran
来源：
INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS | 2024年 / 8卷 / 03期
关键词：
Teleoperation; Position-position architecture; Time domain passivity approach; Passivity observer; Passivity controller; BILATERAL TELEOPERATION; TRANSPARENCY; STABILITY;
D O I：
10.1007/s41315-024-00336-z
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, using time domain passivity approach and energy storage capability of the coupling controllers in a bilateral teleoperation system as a storage element, an innovative control method for position-position architecture is proposed which reduces unnecessary conservatism caused by the conventional direction dependent energy monitoring. An ideal value for the energy storage element is obtained and it is shown that the passivity can be guaranteed by restricting the system output energy to some desired values based on the obtained ideal one. Simulation results show the less energy dissipation and improved position tracking in comparison with the conventional approaches.
引用
收藏
页码：619 / 628
页数：10
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