Title :
Stability and transparency in bilateral teleoperation
Author :
Lawrence, Dale A.
Author_Institution :
Dept. of Aerosp. Eng. Sci., Colorado Univ., Boulder, CO, USA
fDate :
10/1/1993 12:00:00 AM
Abstract :
Tools for quantifying teleoperation system performance and stability when communication delays are present are provided. A general multivariable system architecture is utilized which includes all four-types of data transmission between master and slave: force and velocity in both directions. It is shown that a proper use of an four channels is of critical importance in achieving high performance telepresence in the sense of accurate transmission of task impedances to the operator. It is also shown that transparency and robust stability (passivity) are conflicting design goals in teleoperation systems. The analysis is illustrated by comparing transparency and stability in two common architectures, as well as a recent passivated approach and a new transparency-optimized architecture, using simplified one-degree-of-freedom examples
Keywords :
control system analysis; delays; man-machine systems; manipulators; multivariable control systems; stability; telecontrol; bilateral teleoperation; communication delays; data transmission; master-slave system; multivariable system; stability; telepresence; transparency; Delay effects; Humans; MIMO; Master-slave; Propagation delay; Robots; Space technology; Stability; System performance; Teleoperators;
Journal_Title :
Robotics and Automation, IEEE Transactions on