Stability and transparency in bilateral teleoperation

Lawrence, Dale

doi:10.1109/cdc.1992.371336

Cited by 473 publications

(797 citation statements)

References 13 publications

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“…Highly transparent bilateral system can realize not only the transmission of haptic sensation but also the decoupling detection of the action force and the reaction force [7]. Bilateral motion control has widely been researched as one of the important control methods for the realization of precise teleoperation for more than five decades [8].…”

Section: Introductionmentioning

confidence: 99%

Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

2013

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Original scientific paperIn this paper, two kinds of evaluation index for the haptic motion analysis in parallel multiple degrees-offreedom (MDOF) system are proposed. At first, the spatial modal decomposition method based on discrete Fourier series expansion (DFS) is presented. Spatial modal information expresses a motion element that corresponds to a specific physical action. The spatial modal information can mathematically be defined by the Fourier coefficients. Then, this paper proposes the total harmonic distortion (THD) and the content rate of the haptic modal information as motion evaluation indexes. THD of the spatial modal information can evaluate the complexity of the human motion and/or the deformability of the contact environment. Content rate of the spatial modal information can evaluate the priority of motion element. Some experimental results on the bilateral motion control of a parallel five DOF haptic system are shown, in order to confirm the utility of the proposed indexes. Key words: Discrete fourier series expansion, Haptics, Modal decomposition, Motion controlUkupno harmoničko izobličenje i brzina prostorne modalne informacije za analizu haptičkog paralelnog gibanja. U ovom radu predložena su dva indikatora vrednovanja haptičkog gibanja u paralelnom sustavu s više stupnjeva slobode. Prikazana je metoda prostorne modalne dekompozicije zasnovana na proširenom diskretnom Fourierovom redu. Prostorna modalna informacija predstavlja element koji odgovara specifičnoj fizikalnoj radnji. Prostorna modalna informacija matematički se može opisati koristeći Fourierove koeficijente. U ovom se radu kao indikatori za evaluaciju gibanja predlažu ukupno harmoničko izobličenje i brzina haptičke modalne informacije. Ukupnim harmoničkim izobličenjem prostorne modalne informacije može se ocijeniti kompleksnost ljudskog gibanja i/ili deformabilnost kontaktne okoline. Przina prostorne modalne informacije ocjenjuje prioritet elementa u gibanju. Kako bi se potvrdila korisnost predloženih indikatora vrednovanja prikazani su eksperimentalni rezultati dobiveni dvoosnim prostornim upravljanjem paralelnim haptičkim sustavom s pet stupnjeva slobode.Ključne riječi: proširenje diskretnog Fourierovog reda, haptika, modalna dekompozicija, upravljanje gibanjem INTRODUCTIONThe analysis of the dexterity and the flexibility in human physicality is significant for the design and the development of intelligent human support systems. The advanced computer vision technology can realize the human motion capture [1] and the vision-based motion analysis [2]. The sensor and actuator technology can realize the human motion sensing [3] and the physical support based on biological information [4,5]. Biomechanical knowledge about human physicality can enhance the human-systeminteraction [6]. For the further comprehension of human physicality, it is expected that not only movement but also strength of force in human motion is analyzed by the engineering approach.Highly transparent bilateral system can realize not only the transmission of hapt...

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Section: Introductionmentioning

confidence: 99%

Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

2013

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“…In order to ensure transparency, various control approaches have been proposed for teleoperation systems [6][7][8][9][10][11]. Among these control approaches, the 4-channel architecture is the most successful in terms of fulfilling transparency [12][13]. However, this control scheme assumes perfect knowledge of the linear impedances of the master and the slave.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties

Liu

Tavakoli

2012

Journal of Dynamic Systems, Measurement, and Control

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Existing work concerning adaptive control of uncertain teleoperation systems only deals with linearly parameterized (LP) dynamic uncertainties. Typical teleoperation system dynamics, however, also posses terms with nonlinearly parameterized (NLP) structures. An example of such terms is friction, which is ubiquitous in the joints of the master and slave robots of practical teleoperation systems. Uncertainties in the NLP dynamic terms may lead to significant position and force tracking errors if not compensated for in the control scheme. In this paper, adaptive controllers are designed for the master and slave robots with both LP and NLP dynamic uncertainties. Next, these controllers are incorporated into the 4-channel bilateral teleoperation control framework to achieve transparency. Then, transparency of the overall teleoperation is studied via a Lyapunov function analysis. Simulation studies demonstrate the effectiveness of the proposed adaptive scheme when exact knowledge of the LP and NLP dynamics is unavailable.

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Section: Related Workmentioning

confidence: 99%

“…The first works in quantifying dynamic transparency were concurrently reported in [118] and [51]. In [118], transparency was evaluated on the basis of three ideal responses, whereas in [51], it was based on the correspondence between the mechanical impedance felt by the operator and the real task impedance. Both works presented their analysis using network topology of a two-port teleoperator, originally used to characterize a generic teleoperator in [29] by drawing network analogy of mechanical systems with electrical networks, as shown in Fig. …”

Section: Related Workmentioning

confidence: 99%

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On autonomous and teleoperated aerial service robots

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Stability and transparency in bilateral teleoperation

Cited by 473 publications

References 13 publications

Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis

Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties

On autonomous and teleoperated aerial service robots

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