Bilateral telemanipulation: Improving the complementarity of the frequency- and time-domain passivity approaches

Passivity of bilateral telemanipulation systems ensures stability of the interaction with such systems. In the frequency domain, passivity of a linear time invariant approximation of the system can be designed for a considered set of operating conditions. Non-linear control structures have been proposed that enforce passivity of the system in the time domain. In this paper, extensions are proposed that increase the complimentarity of the frequency- and time-domain approaches. The combination of both approaches allows a guaranteed measure of transparency to be designed in the frequency domain for a desired set of operating conditions. For operating conditions outside the desired set, stable interaction is guaranteed by the non-linear passivity enforcing control structure. Simulation results of the combined approach are presented that show that the stability properties of the bilateral controller designed in the frequency domain are improved and the transparency properties are improved with respect to those of the standard passivity-enforcing algorithm in the time-domain.

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

[2]  Arjan van der Schaft,et al.  Sampled data systems passivity and discrete port-Hamiltonian systems , 2005, IEEE Transactions on Robotics.

[3]  Stefano Stramigioli,et al.  Power scaling in port-Hamiltonian based telemanipulation , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  J. Edward Colgate,et al.  Implementation of stiff virtual walls in force-reflecting interfaces , 1993, Proceedings of IEEE Virtual Reality Annual International Symposium.

[5]  Dominiek Reynaerts,et al.  A mechatronic analysis of the classical position-force controller based on bounded environment passivity , 2011, Int. J. Robotics Res..

[6]  Neville Hogan,et al.  Controlling impedance at the man/machine interface , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[7]  J. Willems.  Dissipative dynamical systems part I: General theory , 1972 .

[8]  Gerd Hirzinger,et al.  Bilateral energy transfer in delayed teleoperation on the time domain , 2008, 2008 IEEE International Conference on Robotics and Automation.

[9]  Blake Hannaford,et al.  Stable teleoperation with time-domain passivity control , 2002, IEEE Transactions on Robotics and Automation.

[10]  Stefano Stramigioli,et al.  Friction compensation in energy-based bilateral telemanipulation , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  A. Schaft,et al.  L2-Gain and Passivity in Nonlinear Control , 1999 .

[12]  Keyvan Hashtrudi-Zaad,et al.  Bounded-Impedance Absolute Stability of Bilateral Teleoperation Control Systems , 2010, IEEE Transactions on Haptics.

[13]  Simon S. Haykin,et al.  Active Network Theory. , 1970 .

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

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

[16]  Stefano Stramigioli,et al.  Bridging the gap between passivity and transparency , 2009, Robotics: Science and Systems.

[17]  Dongjun Lee,et al.  Passive-Set-Position-Modulation Framework for Interactive Robotic Systems , 2010, IEEE Transactions on Robotics.

[18]  Jong Hyeon Park,et al.  Impedance Control with Variable Damping for Bilateral Teleoperation under Time Delay , 2005 .