论文标题
分析采样效应对离散时间双边远距离系统绝对稳定性的分析
An Analysis of Sampling Effect on the Absolute Stability of Discrete-time Bilateral Teleoperation Systems
论文作者
论文摘要
通过选择不适当的采样时间体系结构，离散时间远程操作系统的绝对稳定性可能会危害。为双边远程操作系统提供了修改的结构，包括连续时代的奴隶机器人，主机器人，人类操作员以及带有采样DATA PD的 +耗散控制器的环境，这使得在通信网络中的时间延迟和采样速率的情况下使系统绝对稳定。输出位置和力信号用均匀的采样周期进行量化。本文使用输入 - 延迟方法将采样数据系统转换为连续的时间对应物。本文的主要贡献是在最大采样周期中计算下的下限作为稳定条件。同样，提出的方法对机器人的阻尼施加了上限，并通知采样时间对系统的透明度和稳定性的重要性。进行仿真和实验结果，以显示提出条件的有效性并验证采样方案的有效性。
Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuous-time slave robot, master robot, human operator, and the environment with sampled-data PD-like + dissipation controllers which make the system absolute stable in the presence of the time delay and sampling rates in the communication network. The output position and force signals are quantized with uniform sampling periods. Input-delay approach is used in this paper to convert the sampled-data system to a continuous-time counterpart. The main contribution of this paper is calculating a lower bound on the maximum sampling period as a stability condition. Also, the presented method imposes upper bounds on the damping of robots and notifies the sampling time importance on the transparency and stability of the system. Both simulation and experimental results are performed to show the validity of the proposed conditions and verify the effectiveness of the sampling scheme.
