提出新方法分析延迟下机器人协同系统的稳定性边界。
Stability Boundaries and Motor Performance in Delayed Robot-Mediated Dyadic Interactions
- 用频域零交叉法精确计算系统稳定极限。
- 发现交互刚度非线性降低稳定性裕度。
- 适用于远程协作机器人系统设计与优化。
本文针对存在网络时延的触觉通信下机器人介导的人人（双人）交互系统，建立了解析的稳定性边界。摒弃保守近似，采用频域零交叉方法，基于机器人硬件动力学和耦合刚度提取显式稳定性限制。为验证该数学框架的可扩展性，分析从弹性耦合拓展至高度复杂且非对称的虚拟代理拓扑。理论分析揭示了交互刚度非线性地约束系统稳定性裕度，加剧其对时延的敏感性。通过实验验证了理论边界的准确性，凸显了理论稳定性裕度与实际运动性能之间的相关性。所提框架为稳定远程双人系统提供了严格的设计指导，并指明了有效时延补偿策略的前提条件。
原文摘要 · Abstract (English)
This paper establishes analytical stability boundaries for robot-mediated human-human (dyadic) interaction systems, subject to haptic communication under network-induced time delays. Bypassing conservative approximations, we employ a frequency-domain zero-crossing methodology to extract explicit stability limits based on the robotic hardware dynamics and coupling stiffness. To demonstrate the scalability of this mathematical framework, we extend the analysis from an elastic coupling to a highly complex, asymmetric virtual proxy topology. The theoretical analysis reveals how interaction stiffness non-linearly constrains the system's stability margin, heightening its vulnerability to delay. Furthermore, we validate these theoretical boundaries through experimental trials, highlighting the correlation between analytical stability margins and empirical motor performance. The proposed framework provides rigorous design guidelines for stable remote dyadic systems and suggests the prerequisites for effective delay-compensation strategies.
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