Stability and Transparency for Scaled Teleoperation System

In this paper, a bilateral controller for a microteleoperation system is presented using passivity approaches. We showed that the application of wave variable formalism allows the passivity of the system in spite of the communication delays between the master and the slave and the varying scaling factors. Conditions of the passivity and of the transparency are given for the micro teleoperation system. Finally, experimental results are presented showing the stability-transparency performances of the resulting system with constant and variable time-delay

[1]  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.

[2]  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).

[3]  M. Boukhnifer,et al.  Passive Bilateral Control of Teleoperators under Time Delay and Scaling Factors , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[4]  Tsuneo Yoshikawa,et al.  Analysis and control of master-slave systems with time delay , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[5]  Takashi Yamada,et al.  Performance evaluation of bilateral micro-teleoperation systems based on man-machine dynamic characteristics , 2002, Proceedings of the 41st SICE Annual Conference. SICE 2002..

[6]  Michael Goldfarb.  Dimensional analysis and selective distortion in scaled bilateral telemanipulation , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[7]  Jean-Jacques E. Slotine,et al.  Using wave variables for system analysis and robot control , 1997, Proceedings of International Conference on Robotics and Automation.

[8]  J. Edward Colgate,et al.  Robust impedance shaping telemanipulation , 1993, IEEE Trans. Robotics Autom..

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

[10]  Günter Dieter Niemeyer,et al.  Using wave variables in time delayed force reflecting teleoperation , 1996 .

[11]  Thavida Maneewarn,et al.  Stable adaptive bilateral control of transparent teleoperation through time-varying delay , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

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

[13]  S. Munir,et al.  Internet based teleoperation using wave variables with prediction , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[14]  Wan Kyun Chung,et al.  Obtaining passivity of micro-teleoperation handling a small inertia object , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[15]  Tsuneo Yoshikawa,et al.  Analysis of maneuverability and stability of micro-teleoperation systems , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.