{"title":"改进延迟位置-位置远程操纵系统中时域被动方法的保守性","authors":"Mohsen Salehi, Ali-Akbar Ahmadi","doi":"10.1007/s41315-024-00336-z","DOIUrl":null,"url":null,"abstract":"<p>In this paper, using time domain passivity approach and energy storage capability of the coupling controllers in a bilateral teleoperation system as a storage element, an innovative control method for position-position architecture is proposed which reduces unnecessary conservatism caused by the conventional direction dependent energy monitoring. An ideal value for the energy storage element is obtained and it is shown that the passivity can be guaranteed by restricting the system output energy to some desired values based on the obtained ideal one. Simulation results show the less energy dissipation and improved position tracking in comparison with the conventional approaches.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":2.1000,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Improvement in the conservatism of the time domain passivity approach in delayed position-position teleoperation system\",\"authors\":\"Mohsen Salehi, Ali-Akbar Ahmadi\",\"doi\":\"10.1007/s41315-024-00336-z\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>In this paper, using time domain passivity approach and energy storage capability of the coupling controllers in a bilateral teleoperation system as a storage element, an innovative control method for position-position architecture is proposed which reduces unnecessary conservatism caused by the conventional direction dependent energy monitoring. An ideal value for the energy storage element is obtained and it is shown that the passivity can be guaranteed by restricting the system output energy to some desired values based on the obtained ideal one. Simulation results show the less energy dissipation and improved position tracking in comparison with the conventional approaches.</p>\",\"PeriodicalId\":44563,\"journal\":{\"name\":\"International Journal of Intelligent Robotics and Applications\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2024-04-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Intelligent Robotics and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1007/s41315-024-00336-z\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Robotics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1007/s41315-024-00336-z","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
Improvement in the conservatism of the time domain passivity approach in delayed position-position teleoperation system
In this paper, using time domain passivity approach and energy storage capability of the coupling controllers in a bilateral teleoperation system as a storage element, an innovative control method for position-position architecture is proposed which reduces unnecessary conservatism caused by the conventional direction dependent energy monitoring. An ideal value for the energy storage element is obtained and it is shown that the passivity can be guaranteed by restricting the system output energy to some desired values based on the obtained ideal one. Simulation results show the less energy dissipation and improved position tracking in comparison with the conventional approaches.
期刊介绍：
The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
