This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.

中文翻译：

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具有时延的双边遥操作中的双通道透明优化控制架构

本文介绍了使用两个通信通道的透明度优化控制架构 (TOCA)。发现了两类双通道 TOCA，从而表明两个通道足以实现透明度。与三通道 TOCA 和四通道 TOCA 相比，这些 TOCA 实现了更高水平的透明度，但稳定性较差。通过添加过滤器，增强了双通道 TOCA 的稳定性，同时最大限度地减少了透明度下降；并且针对自由空间和受约束运动提出了两类双通道 TOCA 的组合使用，这涉及在两个 TOCA 之间切换以在自由空间和受约束运动之间进行转换。推导出切换遥操作系统的稳定性条件，用于实际应用。通过单自由度 (DOF) 实验，