利用波域预测的四通道时延双边遥操作

4-CH time delayed bilateral teleoperation using wave variables with prediction

将波变量法与预测技术及四通道遥操作系统结构相结合,在保证时延系统稳定性的基础上提高其透明性.根据理想透明性条件分析了四通道结构的参数选择方法.为了将波变量方法应用于四通道结构,通过合理的力/速度信息组合将四通道结构分割成二端口网络并对其输入输出信息进行了波变换.在主端的波域加上预测器,并设计能量综合器来保证预测器的无源性.分析了所提方法的透明性和稳定性.仿真实验表明,在一定条件下所提方法能够保证时延系统的稳定性,并具有较好的透明性.

A novel method for incorporating wave variables algorithm with prediction in a four-channel （4-CH） architecture of teleoperation system was proposed, to guarantee time-delay teleoperation sta- bility and increasing the transparency at the same time. Parameters selection method of 4 CH architecture under the ideal conditions for transparency was presented. To extend wave variable algorithm to a 4-CH teleoperation architecture, it segregated the communication channel as a two port network by combinating force and speed information reasonably. Then the I/O information of the two-port net- work was transformed by wave variable. A predictor was added in wave domain of master side to further enhance the transparency of the system, and a energy regulator was designed to ensure the predictor passive. Transparency and stability of the system with the mentioned method were analysised. Simulation results show that the proposed method can guarantee the stability and inprove the trans- parency of the system under certain conditions.