Issue No. 02 - April-June (2013 vol. 6)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/TOH.2012.52
A. Haddadi , Dept. of Mech. Eng., Univ. of British Columbia, Vancouver, BC, Canada
K. Hashtrudi-Zaad , Dept. of Electr. & Comput. Eng., Queen's Univ., Kingston, ON, Canada
In this paper, we propose an approach to the control of linear teleoperation systems under time delays. Unlike traditional delay-robust control systems that guarantee passive communication channel through the transmission of wave variables, the new approach uses the concept of absolute stability for the physically expressive Lawrence's four-channel structure for transmitting the standard power variables, i.e., force and position. By incorporating kinesthetic performance requirements, we derive an absolutely stable four-channel controller that is transparent when time delay is negligible. Experimentally, the study evaluates and compares the performance of the proposed controller with that of a benchmark wave variable-based controller. The results indicate contact stability for large delays, a lack of position drift, and improved position and force tracking in both the free motion and rigid contact regimes for small delays.
Impedance, Delay effects, Delay, Scattering, Stability criteria, Numerical stability
A. Haddadi, K. Hashtrudi-Zaad, "Robust Stability of Teleoperation Systems with Time Delay: A New Approach", IEEE Transactions on Haptics, vol. 6, no. , pp. 229-241, April-June 2013, doi:10.1109/TOH.2012.52