Transparent Bilateral Teleoperation under Position and Rate Control
نویسندگان
چکیده
A four-channel control architecture has been suggested in the literature to achieve transparency for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixedposition/rate mode. A one-degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability. The validity of the theory has been verified through simulations and experiments. KEY WORDS—teleoperation, force feedback, rate control, transparency
منابع مشابه
Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach
There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...
متن کاملDiscrete-time Linear Quadratic Gaussian Control for Teleoperation Under Communication Time Delay
Prior relevant research in bilateral teleoperation has mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability in the presence of communication latency. In contrast, in this paper we propose a multimodel predictive-type control approach based on the discrete-time linear quadratic Gaussian (LQG) control that delivers a stable transparent response in th...
متن کاملBilateral teleoperation control to improve transparency in stiff environment with time delay
This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...
متن کاملSliding-Mode Bilateral Teleoperation Control Design for Master-Slave Pneumatic Servo Systems
This paper presents a novel bilateral control design scheme for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. The motivation for using pneumatic actuators in lieu of electrical actuators is that the former has higher force to mass ratio than the latter and is inert to magnetic fields, which is crucial in certain teleoperation applications such as MR...
متن کاملPosition/force Control of Systems Subjected to Communicaton Delays and Interruptions in Bilateral Teleoperation
Teleoperation technology allows to remotely operate robotic (slave) systems located in hazardous, risky and distant environments. The human operator sends commands through the controller (master) system to execute the tasks from a distance. The operator is provided with necessary (visual, audio or haptic) feedback to accomplish the mission remotely. In bilateral teleoperation, continuous feedba...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- I. J. Robotics Res.
دوره 19 شماره
صفحات -
تاریخ انتشار 2000