The Community for Technology Leaders
RSS Icon
Subscribe
Issue No.03 - July-Sept. (2013 vol.6)
pp: 363-369
A. Jazayeri , Dept. of Electr. & Comput. Eng., Univ. of Alberta, Edmonton, AB, Canada
M. Tavakoli , Dept. of Electr. & Comput. Eng., Univ. of Alberta, Edmonton, AB, Canada
ABSTRACT
A teleoperation system consists of a teleoperator, a human operator, and a remote environment. Conditions involving system and controller parameters that ensure the teleoperator passivity can serve as control design guidelines to attain maximum teleoperation transparency while maintaining system stability. In this paper, sufficient conditions for teleoperator passivity are derived for when position error-based controllers are implemented in discrete-time. This new analysis is necessary because discretization causes energy leaks and does not necessarily preserve the passivity of the system. The proposed criterion for sampled-data teleoperator passivity imposes lower bounds on the teleoperator's robots dampings, an upper bound on the sampling time, and bounds on the control gains. The criterion is verified through simulations and experiments.
INDEX TERMS
Teleoperation, Discrete-time systems, Sampling methods,discrete-time control, Bilateral teleoperation, sampled-data passivity
CITATION
A. Jazayeri, M. Tavakoli, "A Passivity Criterion for Sampled-Data Bilateral Teleoperation Systems", IEEE Transactions on Haptics, vol.6, no. 3, pp. 363-369, July-Sept. 2013, doi:10.1109/TOH.2012.73
REFERENCES
[1] R.J. Anderson and M.W. Spong, "Asymptotic Stability for Force Reflecting Teleoperators with Time Delay," Int'l J. Robotics Research, vol. 11, no. 2, pp. 135-149, 1992.
[2] G. Niemeyer and J.-J. Slotine, "Stable Adaptive Teleoperation," IEEE J. Oceanic Eng., vol. 16, no. 1, pp. 152-162, Jan. 1991.
[3] P.F. Hokayem and M.W. Spong, "Bilateral Teleoperation: An Historical Survey," Automatica, vol. 42, no. 12, pp. 2035-2057, 2006.
[4] S. Haykin, Active Network Theory. Addison-Wesley, 1970.
[5] V. Mendez and M. Tavakoli, "A Passivity Criterion for N-Port Multilateral Haptic Systems," Proc. Conf. Decision and Control, pp. 3608-3613, 2010.
[6] M. Tavakoli, A. Aziminejad, R. Patel, and M. Moallem, "Discrete-Time Bilateral Teleoperation: Modelling and Stability Analysis," IET Control Theory and Applications, vol. 2, no. 6, pp. 496-512, 2008.
[7] E. Colgate and G. Schenkel, "Passivity of a Class of Sampled-Data Systems: Application to Haptic Interfaces," J. Robotic Systems, vol. 14, no. 1, pp. 37-47, 1997.
[8] J. Gil, A. Avello, A. Rubio, and J. Florez, "Stability Analysis of a 1 DOF Haptic Interface Using the Routh-Hurwitz Criterion," IEEE Trans. Control Systems Technology, vol. 12, no. 4, pp. 583-588, July 2004.
[9] N. Diolaiti, G. Niemeyer, F. Barbagli, and J.J.K. Salisbury, "Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects," IEEE Trans. Robotics, vol. 22, no. 2, pp. 256-268, Apr. 2006.
[10] J. Abbott and A. Okamura, "Effects of Position Quantization and Sampling Rate on Virtual Wall Passivity," IEEE Trans. Robotics, vol. 21, no. 5, pp. 952-964, Oct. 2005.
[11] P. Berestesky, N. Chopra, and M. Spong, "Discrete Time Passivity in Bilateral Teleoperation over the Internet," Proc. Int'l Conf. Robotics and Automation, pp. 4557-4564, 2004.
[12] K. Kosuge and H. Murayama, "Bilateral Feedback Control of Telemanipulator via Computer Network in Discrete Time Domain," Proc. IEEE Int'l Conf. Robotics and Automation, vol. 3, pp. 2219-2224, 1997.
[13] J.H. Ryu, D.S. Kwon, and B. Hannaford, "Stable Teleoperation with Time-Domain Passivity Control," IEEE Trans. Robotics and Automation, vol. 20, no. 2, pp. 365-373, Apr. 2004.
[14] S. Stramigioli, C. Secchi, A. van der Schaft, and C. Fantuzzi, "A Novel Theory for Sample Data System Passivity," Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems, pp. 1936-1941, 2002.
[15] J. Artigas, C. Preusche, G. Hirzinger, G. Borghesan, and C. Melchiorri, "Bilateral Energy Transfer in Delayed Teleoperation on the Time Domain," Proc. IEEE Int'l Conf. Robotics and Automation, pp. 671-676, 2008.
[16] M. Tavakoli, A. Aziminejad, R. Patel, and M. Moallem, "High-Fidelity Bilateral Teleoperation Systems and the Effect of Multimodal Haptics," IEEE Trans. Systems, Man and Cybernetics—Part B, vol. 37, no. 6, pp. 1512-1528, Dec. 2007.
[17] K. Ogata, Discrete-Time Control Systems, second ed. Prentice-Hall, 1995.
[18] M. Fadali and A. Visioli, Digital Control Engineering: Analysis and Design. Elsevier, 2009.
[19] A. Oppenheim, A. Willsky, and I. Young, Signals and Systems. Prentice-Hall, 1996.
[20] K. Kosuge, T. Itoh, and T. Fukuda, "Scaled Telemanipulation with Communication Time Delay," Proc. IEEE Int'l Conf. Robotics and Automation, vol. 3, pp. 2019-2024, 1996.
[21] H.C. Cho and J.H. Park, "Impedance Controller Design of Internet-Based Teleoperation Using Absolute Stability Concept," Proc. IEEE/RSJ Int'l Conf. Intelligent Robots and Systems, vol. 3, pp. 2256-2261, 2002.
63 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool