Robust stability analysis of bilateral teleoperation systems using admittance-type devices

One of the main challenges in telerobotics is the selection of control architectures and control parameters, which are able to robustly stabilize the overall teleoperation system despite of changing human operator and environment impedances. In this paper robust stability of different types of bilateral control algorithms for admittance type devices is analyzed. Hereby, stability of the system is investigated by using the parameter space approach, which allows the analysis of uncertain systems with varying plant parameters. Simple linear models are assumed for human operator, human-system interface, teleoperator as well as remote environment. The parameter space method is used for controller design, as well as for robustness analysis. Finally, Gamma-stability of the presented architectures is evaluated for a one degree-of-freedom mechatronic teleoperation system.

[1]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[2]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..

[3]  Robert L. Williams.  Control of Kinesthetic Haptic Interfaces in VR Applications , 1997 .

[4]  Septimiu E. Salcudean,et al.  Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators , 2001, Int. J. Robotics Res..

[5]  G. Raisbeck.  A Definition of Passive Linear Networks in Terms of Time and Energy , 1954 .

[6]  Dale A. Lawrence.  Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..

[7]  F. B. Llewellyn,et al.  Some Fundamental Properties of Transmission Systems , 1952, Proceedings of the IRE.

[8]  Dongjun Lee,et al.  Passive Bilateral Teleoperation With Constant Time Delay , 2006, IEEE Transactions on Robotics.

[9]  Hyung-Soon Park,et al.  Transparent teleoperation using two-channel control architectures , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Dale A. Lawrence,et al.  Performance trade-offs for hand controller design , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[11]  Sandra Hirche,et al.  Bilateral Control Architectures for Telerobotics , 2007, Advances in Telerobotics.

[12]  Greg R. Luecke,et al.  Dynamic simulation of virtual mechanisms with haptic feedback using industrial robotics equipment , 1997, Proceedings of International Conference on Robotics and Automation.

[13]  Blake Hannaford,et al.  Stable haptic interaction with virtual environments , 1999, IEEE Trans. Robotics Autom..