SUMMARYStability is a major problem with bilateral teleoperator when there is a transmission time delay. By adding adequate damping gain into position servo, a stable bilateral control can be achieved under the existence of time delay. However, large damping gain is required to stabilize the system and the performance is degraded. In this paper, the performance improvement by introducing a high-pass filter into a proportional derivative-based teleoperator with time delay has been studied. We proposed new control law and derived the stability condition. We demonstrated the performance improvement using a hybrid matrix, 1-degree of freedom (DOF), 2-DOF simulations, and 2-DOF peg-in-hole experiments.

中文翻译：

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引入高通滤波器提高基于PD的时延双边遥信器性能

总结当存在传输时间延迟时，稳定性是双边远程操作员的主要问题。通过在位置伺服中加入足够的阻尼增益，可以在存在时延的情况下实现稳定的双边控制。然而，需要较大的阻尼增益来稳定系统并且性能会下降。在本文中，研究了通过将高通滤波器引入具有时间延迟的基于比例导数的遥控操作器的性能改进。我们提出了新的控制律并导出了稳定条件。我们使用混合矩阵、1-自由度 (DOF)、2-DOF 模拟和 2-DOF 钉孔实验证明了性能改进。