Title :
Stable teleoperation with time domain passivity control
Author :
Ryu, Jee-Hwan ; Kwon, Dong-Soo ; Hannaford, Blake
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Taejeon, South Korea
Abstract :
A new bilateral control scheme is proposed to ensure stable teleoperation under a wide variety of operating conditions. To guarantee the stability of a teleoperation system, a previously proposed energy-based method is extended to a two-port network. The issues in implementing the "passivity observer" and "passivity controller" to teleoperation systems are studied. The method is tested with our two-DOF master/slave teleoperation system. Totally stable teleoperation is achieved under conditions such as hard wall contact (stiffness>150 kN/m) and hard surface following
Keywords :
stability; telecontrol; time-domain synthesis; bilateral control scheme; energy-based method; hard surface following; hard wall contact; passivity controller; passivity observer; stable teleoperation; stiffness 150 kN/M; time domain passivity control; two-port network; Control systems; Design methodology; Haptic interfaces; Humans; Master-slave; Mechanical engineering; Nonlinear control systems; Nonlinear dynamical systems; Stability; System testing;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013729
