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An Analysis of Sampling Effect on the Absolute Stability of Discrete-time Bilateral Teleoperation Systems

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Document pages: 6 pages

Abstract: Absolute stability of discrete-time teleoperation systems can be jeopardizedby choosing inappropriate sampling time architecture. A modified structure ispresented for the bilateral teleoperation system including continuous-timeslave robot, master robot, human operator, and the environment withsampled-data PD-like + dissipation controllers which make the system absolutestable in the presence of the time delay and sampling rates in thecommunication network. The output position and force signals are quantized withuniform sampling periods. Input-delay approach is used in this paper to convertthe sampled-data system to a continuous-time counterpart. The main contributionof this paper is calculating a lower bound on the maximum sampling period as astability condition. Also, the presented method imposes upper bounds on thedamping of robots and notifies the sampling time importance on the transparencyand stability of the system. Both simulation and experimental results areperformed to show the validity of the proposed conditions and verify theeffectiveness of the sampling scheme.

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