Adaptive wave variables for bilateral teleoperation using neural networks

摘要

Stability and transparency determine the performance of bilateral teleoperation systems. Previous studies on passivity-based control focused on stability such that the results of the study are robust in terms of the time delay issue. But there are not sufficient studies on performance analysis based on environmental elements related to transparency. This paper suggests an adaptive wave transformation system where stability is secured by controlling characteristic impedance in the existing wave variables system adaptively according to time delay and environmental elements and simultaneously ensuring a proper dynamic performance depending on external force. Neural network was utilized to design the system that enables controlling the characteristic impedance depending on external factors such as time delay and comparison with the existing wave variables.