期刊名称：International Journal of Applied Mathematics and Computer Science
电子版ISSN：2083-8492
出版年度：2019
卷号：29
期号：4
页码：1-12
DOI：10.2478/amcs-2019-0050
出版社：De Gruyter Open
摘要：Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that
he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without
haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In
this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays,
the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose
a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave
system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed
control methods.
关键词：teleoperation; force control; stability; transparency;
