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Master-Slave Teleoperation of Underactuated Mechanical Systems with Communication Delays
Ollin Peñaloza-Mejía,Luis A. Márquez-Martínez,Jaime Alvarez-Gallegos,Joaquín Alvarez 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2
This paper addresses the control problem of master-slave teleoperation of a class of underactuated mechanicalsystems with communication delays. The core of the proposed solution introduces a suitable couplingmatrix, so the complete error dynamics is written in a linear part, and a nonlinear one, for which the matchingcondition is satisfied. Then, from this representation, discontinuous causal controllers are designed to achieve bilateralcoordination in force and position. The proposal is valid for underactuated manipulators with second-ordernon-holonomic constraints, and represents, to our best knowledge, a contribution in teleoperation systems wherethese mechanisms have been barely considered. Numerical simulations and real-time experiments developed overthe Internet are provided to show the effectiveness of the proposed control scheme.