Probing Signal Injection for Compatible Realization of Operationality and Impedance Identification

摘要

Environmental recognition has an important role in tele-operation. It contributes to the stabilization of complex interactions of robots with the environment. Previous studies have focused on the vision-based method. However, subject dynamics, expressed as stiffness or viscosity, can not be obtained from visual information. One method to determine this is to apply a probing signal to the system and satisfy persistent excitation (PE). However, it comes with the disadvantage of deteriorating operationality for the vibration. Thus, this paper proposed a probing signal compensation method for a 4ch bilateral control system by using a band-pass filter (BPF). Therefore, dynamics identification was accomplished with sufficient PE derived from the probing signal. While on the leader device, oscillations were suppressed and operationality was guaranteed. The proposal contributes to compatible environmental recognition and operationality indemnification for tele-operation systems.