Significance of Causality Analysis for Transparent Teleoperation

This paper presents significance of causality analysis in attaining transparency of bilateral teleoperation. The causality analysis enabled novel understanding of teleoperation systems, thereby providing methods for finding transparency-attainable control architectures with proper control parameters. Furthermore, when combined with the causality-based stability, stability could still be guaranteed while attaining transparency. Experimental verification is given for simple 1-DOF teleoperation tasks.

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

[2]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1988, Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics.

[3]  Dean Karnopp,et al.  Introduction to physical system dynamics , 1983 .

[4]  Jean-Jacques E. Slotine,et al.  Stable Adaptive Teleoperation , 1990, 1990 American Control Conference.

[5]  Jean-Jacques E. Slotine,et al.  Stable adaptive teleoperation , 1991 .

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

[7]  Thomas B. Sheridan,et al.  Telerobotics , 1989, Autom..

[8]  Pyung Hun Chang,et al.  Causality analysis using bond-graph and its significance in bilateral teleoperation , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  R. Rosenberg.  Exploiting Bond Graph Causality in Physical System Models , 1987 .

[10]  Jean-Jacques E. Slotine,et al.  Telemanipulation with Time Delays , 2004, Int. J. Robotics Res..

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

[12]  Septimiu E. Salcudean,et al.  On the use of local force feedback for transparent teleoperation , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

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