期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：2
DOI：10.1177/1729881418761136
语种：English
出版社：SAGE Publications
摘要：Model-mediated teleoperation has been developed to improve both transparency and stability in teleoperation. It uses local model of remote environment to provide non-delayed force feedback rather than using delayed force signals from slave side and thus is robust to arbitrary time delay. However, updating parameters in the local model may cause sudden force change during the operation. Meanwhile, the undesirable deep penetration or overlarge contact force may occur on the slave side due to the modeling error. Both of them will jeopardize the system stability. In this article, we propose a novel force-based model updating algorithm, which restrains the abrupt force caused by parameter updating. The update efficiency has been greatly improved by comparing with the existing solution; meanwhile, it ensures a stable human–machine interaction at the same time. Then, a new adaptive impedance controller that restricts both overlarge force and penetration is introduced. The obtained results on a one-degree of freedom contact experiment with a delay of 5 s demonstrate the superiority of proposed approaches in comparison with state-of-the-art methods.
关键词：Teleoperation; model-mediated teleoperation; impedance control
Loading...
