کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
731351 893049 2012 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Improved transparency in energy-based bilateral telemanipulation
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Improved transparency in energy-based bilateral telemanipulation
چکیده انگلیسی

In bilateral telemanipulation algorithms based on enforcing time-domain passivity, internal friction in the devices poses an additional energy drain. This can severely decrease the obtainable transparency of these algorithms when high amounts of friction are present in the slave device. Based on a model of the friction, the dissipated energy can be estimated and reclaimed inside the energy balance of the control algorithm. Extending the energy balance which is monitored, decreases the net passivity of the telemanipulation system enforced by the control algorithm, which usually enforces passivity of just the bilateral controller. Experimental results are provided that demonstrate the effectiveness of the proposed approach in increasing the obtainable transparency. As long as the physically dissipated energy is underestimated, the telemanipulation system as a whole will remain passive. Thus the guaranteed stability property of the time-domain passivity algorithm is maintained.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 22, Issue 1, February 2012, Pages 45–54
نویسندگان
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