Identification and Control of Bilateral Telerobot with Time Delay Using Genetic Algorithm  

作　　者：曾庆军 黄惟一 宋爱国 

出　　处：《Journal of Southeast University(English Edition)》1997年第1期76-81,共6页东南大学学报（英文版）

摘　　要：Bilateral telerobot can help human operator feel and control the remote pre unknown environment as if he/she is at the remote site, which is usually called “telepresence”. However, the transmission time delay between master manipulator and slave manipulator causes instability of the telerobot system and bad “telepresence” of human operator. In this paper, a new adaptive and passive control scheme based on active impedance matching is proposed to guarantee stability and transparency of the bilateral telerobot system. A genetic algorithm (GA) is used in this control scheme to directly identify parameters of the environment impedance.

关 键 词：BILATERAL TELEROBOT TIME DELAY GENETIC ALGORITHM 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]