Contact transition stability analysis for a bilateral teleoperation system

Author

Ni, Liya ; Wang, David W L

Author_Institution

Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada

Volume

3

fYear

2002

fDate

2002

Firstpage

3272

Lastpage

3277

Abstract

A bilaterally controlled teleoperation system usually involves contact tasks at a remote location. Dynamic interaction between the slave robot and the environment may cause severe chattering instability. This paper presents a contact transition stability analysis for a position-error-based bilateral teleoperation system. The scenario studied is when the slave robot collides with a stationary stiff environment. Under a few assumptions and conditions, the teleoperation system is shown to be asymptotically stable. The analysis includes the dynamics of the human arm and of the environment

Keywords

absolute stability; asymptotic stability; telecontrol; telerobotics; bilateral teleoperation system; contact transition stability analysis; dynamic interaction; position-error-based bilateral teleoperation system; remote location; slave robot; stationary stiff environment; Communication system control; Contacts; Control systems; Force control; Humans; Master-slave; Mining industry; Robotics and automation; Robots; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013731

Filename

1013731