이산시간 시스템을 위한 파형변환을 사용한 햅틱 인터페이스 및 양방향 원격조작 : Haptic Interface and Bilateral Teleoperation Using Wave Transformation for Sampled-Data System
- 발행기관 고려대학교
- 발행년도 2005
- 학위수여년월 2005. 8
- 학위명 박사
- 학과 대학원 기계공학과 동력학및제어전공
- 식별자(기타) DL:000015976586
- 서지제어번호 000045216830
초록/요약
인간과 상호작용을 하는 시스템에서 전송지연과 단위 지연은, 특히 수동성과 투명성에 관련된 시스템의 성능을 저하시킨다. 힘의 피드백을 제공하는 양방향 원격조작에서 전기기계적인 인터페이스로부터 전송지연은 반듯이 발생한다. 여기서 전송지연은 시스템을 불안정하게 만들 수 있다. 이산 시스템에 의해 발생하는 단위지연은 가상 벽을 능동적으로 만든다. 따라서 햅틱 인터페이스는 불안정해 질 수 있다. 햅틱 인터페이스는 양방향 원격 조작의 한 분야이기 때문에 파형변수와 같이 전송지연에 대해 안정성이 보장된 접근방법을 통해 구현하는 것이 바람직하다. 파형 변환은 전송지연에 대해 안정성이 확보된 유연한 보나 전기적인 전송 매체와 같이 자연적인 파형과 유사한 현상을 나타낼 수 있도록 한 기계적인 시스템간 통신의 발전된 형태이다. 따라서 파형변수는 시스템의 수동성 측면에서 전송지연에 따른 문제들을 대처하기 위해 사용되었다. 파형 변수를 사용하여 햅틱 인터페이스를 구현하기 위해, 파형 변환을 이산 시스템에서 구현해야 한다. 이 변환 과정에서도 시스템의 인과관계에 의해 단위 지연이 발생한다. 이산 시스템에서는 여러 가지 형태의 파형 변환이 존재하며, 이들 중 은 경우에 따라 파형 변환을 양의 댐핑이 되게 한다. 이산 시스템은 능동 조건을 통하여, 지연된 반사를 이용한 파형 변환이 이산 시스템하에서 안정적인 햅틱 인터페이스를 제공할 수 있도록 파형 임피던스를 설계할 수 있다. 이와 더불어, 파형 공간에서 햅틱 인터페이스의 성능을 향상시키는 제어기를 설계할 수 있다. 예를 들어 반사 라인에 고역 필터가 있는 파형 전송은 별도의 댐핑 요소 없이도 기본적인 햅틱 인터페이스에서 만족할 만한 성능을 제공한다. 시뮬레이션 과 실험을 통해 그 성능을 검증할 수 있다. 햅틱 인터페이스를 위해 사용된 방법들은 양방향 원격조작에서도 안정한 양방향 원격조작을 제공한다. 양방향 원격조작에서 마스터 로봇과 조작자, 그리고 슬레이브 로봇과 환경의 관계를 보다 자세히 표현함으로써, 파워 공간에서 좀 더 구체적인 4-채널 구조의 완벽한 투명성 조건을 찾을 수 있다. 양방향 원격조작의 수동성과 투명성을 위해 파워 공간의 4-채널 구조의 투명성 조건을 파형 공간으로 확장 시키면 시스템은 수동성과 투명성을 만족시킬 수 있다.
more초록/요약
In a system interacting with human, the time delay such as transmission delay and unit delay degrade the system performance, specially the passivity and transparency. In bilateral teleoperation which provides the force feedback, the transmission delay inevitably occurs from the electromechanical interface, which makes the system unstable. Unit delay caused by discrete time system makes the virtual wall active, and thus the haptic interface is unstable. Since haptic interface is a subfield of bilateral teleoperation, it is desirable that the haptic interface is established on the approach, in which stability can be guaranteed for transmission delay, such as wave variables. Wave transformation is a development of the communication mimics natural waves, such as flexible beams or electrical transmission lines in which stability can be guaranteed for transmission delay. Therefore, wave variables have been used to cope with the transmission delay from the viewpoint of passivity of a system. To implement the haptic interface use of the wave variables, the wave transformation is configured in the sampled-data system. During wave transformation of a sampled-data system, a unit delay arises due to the causality of the system. Several wave transformations can be configured for the sampled-data system. Amongst these wave transformations, the wave transformation using delayed reflection occasionally makes the wave transformation a positive damping. Based on the passivity condition of the sampled-data system, wave impedance can be designed so that the wave transformation using delayed reflection provides stable haptic interface in the sampled-data system. Furthermore, in wave space, the controller can be designed such that the performance of haptic interface is improved. As an example, the wave transmission with high pass filters on the reflection lines provides the satisfactory performance in the basic haptic interface without additional damping. The verification of the developments is shown through the simulations and experiments. In bilateral teleoperation, the scheme based on the wave transformation for the haptic interface also provides a stable bilateral teleoperation. The perfect transparency condition of bilateral teleoperation with 4-channel architecture is modified by describing the relation between the master robot and the operator, and the slave robot and the environment. For transparency and passivity of bilateral teleoperation, if the perfect transparency condition of 4-channel architecture in power space is extended to wave space, the system satisfies the passivity and transparency.
more목차
Data System Name : Jae-Hyeong Lee Department : Mechanical Engineering Thesis Advisor : Jae-Bok Song : Munsang Kim
Abstract
Contents
ABSTRACT
CONTENTS
LIST OF FIGURE
LIST OF TABLE
CHAPTER 1 INTRODUCTION
1.1 Interaction between Human and Remote Machine
1.2 Interface between Human and Computer
1.3 Transmission Delay in Bilateral Teleoperation
1.4 Unit Delay in Haptic Interface
1.5 Wave variables
1.6 Outline
CHAPTER 2 NETWORK THEORY
2.1 Network Representation
2.2 Passivity of n-Port Network
2.3 Scattering Parameter
CHAPTER 3 TWO-PORT NETWORK FOR MECHANICAL SYSTEM
3.1 Analogy of Electrical and Mechanical Elements
3.2 Passivity Condition of Two-Port Network for a Mechanical System
3.3 Transparency Condition for Two-Port Network
CHAPTER 4 BILATERAL TELEOPERATION
4.1 Master and Slave Network
4.2 Simple Bilateral Teleoperation
4.3 Perfect Transparency Condition
4.4 Perfect Transparency for Modified 4-Channel Architecture
CHAPTER 5 HAPTIC INTERFACE
5. 1 General Haptic Interface
5. 2 Basic Haptic Interface
5. 3 Haptic Interface on Internet
CHAPTER 6 WAVE TRANSFORMATION IN CONTINUOUS TIME SYSTEM
6.1 Definition
6.2 Two-Port Networks in Wave Space
6.3 Wave Transmission
6.4 Transmission Delays in Power and Wave Space
CHAPTER 7 WAVE TRANSFORMATIONS FOR SAMPLED-DATA SYSTEM
7.1 Wave Transformation for Sampled-Data System
7.2 Property of Delayed Signal
CHAPTER 8 WAVE TRANSMISSIONS FOR SAMPLED-DATA SYSTEM
8.1 Various Type Wave Transmission in Sampled-Data System
8.2 Property of Wave Transmission trough WTDR
8.3 Property of Wave Transmission Configured Single Loop
CHAPTER 9 DESIGN OF CONTROLLER IN WAVE SPACE
9. 1 General Architecture of Two-Port Network in Wave Space
9. 2 Controller on Transmission Lines
9. 3 Controller on Reflection Lines
9. 4 Controller on Local Reflection Lines
9. 5 Property of Wave Transmission using Filtered Reflection
CHAPTER 10 HAPTIC INTERFACE THROUGH WAVE TRANSMISSION
10. 1 Transfer Function of Virtual Environments
10. 2 Haptic Interface through Wave Transmission use of WTDR
10. 3 Haptic Interface through WTFR
10. 4 Experimental Results
CHAPTER 11 BILATERAL TELEOPERATION THROUGH WAVE TRANSMISSION
11. 1 Bilateral Teleoperation through Wave Transmission
11. 2 4-Cchannel Bilateral Teleoperation through Wave Transmission
CHAPTER 12 CONCLUDING REMARKS
12. 1 Summary
12. 2 Conclusions
12. 3 Future Directions
APPENDIX A VARIOUS TYPES OF WAVE TRANSFORMATIONS AND WAVE
TRANSMISSIONS FOR SAMPLED-DATA SYSTEM
REFERENCES
List of Figure
Fig. 2.1 n-port network
Fig. 2.2 One-port network
Fig. 2.3 Two-port network
Fig. 2.4 Definition of scattering variable
Fig. 3.1 Network representation of a mechanical system
Fig. 3.2 Two-port network of the mechanical system
Fig. 3.3 Two-port network for illustrating transparency
Fig. 4.1 Schematics for master and slave system
Fig. 4.2 Block diagram of Fig. 4.1
Fig. 4.3 Schematics for simple master and slave system
Fig. 4.4 Block diagram of Fig. 4.3
Fig. 4.5 Simple bilateral teleoperation system
Fig. 4.6 Simulation results without transmission delay
Fig. 4.8 Various type of master and slave robots
Fig. 4.9 Bilateral teleoperation system
Fig. 4.10 Bilateral teleoperation with admittance master and admittance slave
Fig.4.11 Various type of master and slave robot coupled with operator and environment
Fig. 4.12 Alternative bilateral teleoperation with admittance type master and admittance type slave
Fig. 4.13 Simulation results without transmission delay
Fig. 4.14 Simulation results with transmission delay
Fig. 5.1 Schematic of a haptic interface
Fig. 5.2 Network representation of general haptic interface
Fig. 5.3 Basic haptic interface
Fig. 5.4 Basic haptic interface without human factor
Fig. 5.5 Active wall of basic haptic interface
Fig. 5.6 Example of basic haptic interface
Fig. 5.7 Basic haptic interface including the human factor
Fig. 5.8 Simulation results of basic haptic interface including the human factor
Fig. 5.9 Basic haptic interface including the transmission delay
Fig. 5.10 Example of basic haptic interface including the transmission delay
Fig. 5.11 Basic haptic interface including the human factor and the transmission delay
Fig. 5.12 Example of basic haptic interface including the human factor and the transmission delay
Fig. 6.1 Wave transformations
Fig. 6.2 Two-port networks in power and wave space
Fig. 6.3 Conversions of network to wave space
Fig. 6.4 Conversions of the network to power space
Fig. 6.5 Wave transmission
Fig. 6.6 Wave transmissions according to the loop configuration
Fig. 6.7 Transmission delays in power and wave space
Fig. 6.8 Transmission delay in wave space
Fig. 6.9 Transmission delay in wave space at high frequency
Fig. 7.1 Wave transformation for sampled-data system
Fig. 7.2 Alternative schematic of the wave transformation in sampled-data system
Fig. 7.3 Magnitude of λI and λA
Fig. 8.1 Examples of the wave transmission for sampled-data system
Fig. 8.2 Alternative schematic of wave transmission of Fig. 8.1(a)
Fig. 8.3 Wave transmission through WTDR at high frequencies
Fig. 8.4 A (τ ) and B (τ ) of wave transmission through WTDR
Fig. 8.5 Alternative schematic of wave transmission of Fig. 8.1(b)
Fig. 8.6 Functions A(τ ) and B(τ ) of Fig. 8.1 (b)
Fig. 9.1 Signal flow in wave space
Fig. 9.2 Architecture of a two-port network using local reflection in wave space
Fig. 9.3 Architecture of a two-port network using reflection in wave space
Fig. 9.4 Wave transmission using the controller on the transmission line
Fig. 9.5 Wave transmission through WTFT at High frequency
Fig. 9.6 Wave transmission using the controller on the reflection line
Fig. 9.7 Magnitude of λe
Fig. 9.8 Wave transmission through WTFR at High frequency
Fig. 9.9 Wave transmission using the controller on the local reflection line
Fig. 9.10 Magnitude of λe
Fig. 9.11 Wave transmission through WTFLR at High frequency
Fig. 9.12 Wave transmission using high-pass filtered reflection (WTFR)
Fig. 9.13 A(γ ) and B(γ ) of WTFR
Fig. 10.1 Haptic interface through the wave transmission
Fig. 10.2 Haptic interface through wave transmission use of WTDR without impedance of the operator
Fig. 10.3 Q(b, ω) as a function of frequency and wave impedance
Fig. 10.4 Simulation results of the haptic interface using WTDR
Fig. 10.5 Haptic interface through the wave transmission with impedance of the operator
Fig. 10.6 Simulation results of the haptic interface using WTDR with human factor
Fig. 10.7 Haptic interface through WTFR
Fig. 10.8 Q(b,ω) as a function of frequency and wave impedance
Fig. 10.9 Simulation results of WTFR
Fig. 10.10 Simulation results of the wave transmission through WTDR
Fig. 10.11 Initial position of the haptic device
Fig. 10.12 Basic haptic interface
Fig. 10.13 Experimental results of the conventional haptic interface
Fig. 10.14 Basic haptic interface without human factor
Fig. 10.15 Experimental results of the basic haptic interface without human factor
Fig. 10.16 Haptic interface use of the wave transmission through WTDR
Fig. 10.17 Experimental results of the proposed haptic interface
Fig. 10.18 Haptic interface through WTFR
Fig. 10.19 Experimental results of WTFR
Fig. 10.20 Haptic interface through WTFR
Fig. 10.21 Experimental results of the wave transmission through WTDR
Fig. 11.1 Bilateral teleoperation through the wave transmission
Fig. 11.2 Bilateral teleoperation through the wave transmission use of WTDR
Fig. 11.3 simulation results of the bilateral teleoperation through wave transmission use of WTDR
Fig. 11.4 Simulation results of the bilateral teleoperation through wave transmission use of WTDR)
Fig. 11.5 Bilateral teleoperation through WTFR
Fig. 11.6 Example of the bilateral teleoperation through WTFR
Fig. 11.7 Example of the bilateral teleoperation through WTFR
Fig. 11.8 Block diagram of 4 channel architecture in wave transformation
Fig. 11.9 Bilateral teleoperation through wave transmission
Fig. 11.10 Bilateral teleoperation through wave transmission with transmission delay
