Research on Stability of Time-delay Force Feedback Teleoperation System Based on Scattering Matrix
The successful implementation of the robot teleoperation system has greatly improved the ability of remote robots. The force feedback technology is applied to the teleoperation system. On the one hand, the main operator manipulates the operator’s related movement information to the target robot; on...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2023-01-01
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| Series: | Applied Mathematics and Nonlinear Sciences |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/amns.2022.2.00017 |
| _version_ | 1797688756880277504 |
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| author | Wang Chunxu Shi Feipeng Li Lipeng Alhamami Mohammed |
| author_facet | Wang Chunxu Shi Feipeng Li Lipeng Alhamami Mohammed |
| author_sort | Wang Chunxu |
| collection | DOAJ |
| description | The successful implementation of the robot teleoperation system has greatly improved the ability of remote robots. The force feedback technology is applied to the teleoperation system. On the one hand, the main operator manipulates the operator’s related movement information to the target robot; on the other hand, the main hand feeds back the force situation of the target robot in the remote control to the operator. From the robot under the control of the system can more accurately complete the task, with a higher work efficiency. Teleoperation system with force feedback function generally adopts bilateral control, the master and slave end of the system have a certain delay in the transmission process, it makes the stability of the system destroyed. This paper uses a two-port network to simulate the communications link of the teleoperation system as a lossless transmission line, solves the stability problem of teleoperation systems with force feedback in the presence of time delay effectively. Experimental simulation results show that this method can guarantee a higher stability of the system.. |
| first_indexed | 2024-03-12T01:36:26Z |
| format | Article |
| id | doaj.art-9cec2423ee06487facd19907fd05bd76 |
| institution | Directory Open Access Journal |
| issn | 2444-8656 |
| language | English |
| last_indexed | 2024-03-12T01:36:26Z |
| publishDate | 2023-01-01 |
| publisher | Sciendo |
| record_format | Article |
| series | Applied Mathematics and Nonlinear Sciences |
| spelling | doaj.art-9cec2423ee06487facd19907fd05bd762023-09-11T07:01:08ZengSciendoApplied Mathematics and Nonlinear Sciences2444-86562023-01-018135736210.2478/amns.2022.2.00017Research on Stability of Time-delay Force Feedback Teleoperation System Based on Scattering MatrixWang Chunxu0Shi Feipeng1Li Lipeng2Alhamami Mohammed31School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin, 300222, China, E-mail:2School of Information Engineering, Tianjin University of Commerce, Tianjin, 300134, China2School of Information Engineering, Tianjin University of Commerce, Tianjin, 300134, China3College of Administrative Sciences, Applied Science University, BahrainThe successful implementation of the robot teleoperation system has greatly improved the ability of remote robots. The force feedback technology is applied to the teleoperation system. On the one hand, the main operator manipulates the operator’s related movement information to the target robot; on the other hand, the main hand feeds back the force situation of the target robot in the remote control to the operator. From the robot under the control of the system can more accurately complete the task, with a higher work efficiency. Teleoperation system with force feedback function generally adopts bilateral control, the master and slave end of the system have a certain delay in the transmission process, it makes the stability of the system destroyed. This paper uses a two-port network to simulate the communications link of the teleoperation system as a lossless transmission line, solves the stability problem of teleoperation systems with force feedback in the presence of time delay effectively. Experimental simulation results show that this method can guarantee a higher stability of the system..https://doi.org/10.2478/amns.2022.2.00017time-delayforce feedbackstability70q05 |
| spellingShingle | Wang Chunxu Shi Feipeng Li Lipeng Alhamami Mohammed Research on Stability of Time-delay Force Feedback Teleoperation System Based on Scattering Matrix Applied Mathematics and Nonlinear Sciences time-delay force feedback stability 70q05 |
| title | Research on Stability of Time-delay Force Feedback Teleoperation System Based on Scattering Matrix |
| title_full | Research on Stability of Time-delay Force Feedback Teleoperation System Based on Scattering Matrix |
| title_fullStr | Research on Stability of Time-delay Force Feedback Teleoperation System Based on Scattering Matrix |
| title_full_unstemmed | Research on Stability of Time-delay Force Feedback Teleoperation System Based on Scattering Matrix |
| title_short | Research on Stability of Time-delay Force Feedback Teleoperation System Based on Scattering Matrix |
| title_sort | research on stability of time delay force feedback teleoperation system based on scattering matrix |
| topic | time-delay force feedback stability 70q05 |
| url | https://doi.org/10.2478/amns.2022.2.00017 |
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