Title :
Kalman filter analysis for quantitative comparison of sensory schemes in bilateral teleoperation systems
Author :
Cavusoglu, M. Cenk ; Tendick, Frank
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
An important area of research in the teleoperation literature is to develop systematic methods to quantitatively compare different manipulator designs in application critical tasks. Such quantitative methods are especially important during design of the manipulators to make an informed decision among various design alternatives. In this paper, a novel method to quantitatively compare different sensory schemes for a teleoperation system is introduced. This method evaluates the sensory schemes by comparing the norm of the a posteriori error covariance matrices of the Kalman filters for each configuration. The main advantage of this method is that it allows to quantitatively compare arbitrary sensory configurations.
Keywords :
Kalman filters; covariance matrices; haptic interfaces; state-space methods; telerobotics; Kalman filter analysis; bilateral teleoperation systems; manipulator designs; posteriori error covariance matrices; quantitative methods; sensory schemes; state space model; systematic methods; Control design; Control systems; Error correction; Force feedback; Kinematics; Robot sensing systems; Sensor systems; State estimation; Surgery; Teleoperators;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242019