DocumentCode :
2341433
Title :
Position coordination of a linear teleoperation system with constant time delay
Author :
Razi, Kamran ; Yazdanpanah, M.J. ; Ghidary, Saeed Shiry ; Najafabadi, H.H. ; Zareinejad, M. ; Seifabadi, Reza ; Rezaei, S.M.
Author_Institution :
Univ. of Tehran, Tehran
fYear :
2007
fDate :
Oct. 29 2007-Nov. 2 2007
Firstpage :
2673
Lastpage :
2678
Abstract :
In this paper we present a linear time invariant controller for bilateral teleoperation of a pair of N-DOF linear robotic systems under constant time delay. Our framework uses position and velocity signals to achieve position tracking in free motion. It also uses force feedback for compensating the human/environment disturbances to achieve position coordination in contact tasks. In passifying position and velocity feedback terms, for simplicity reasons there is no need to consider the dynamics of the robotic systems as long as they satisfy Euler-Lagrangian dynamic system equation. However when the force feedback is applied, we have to consider the dynamics of the robot in controller design. We do passivity analysis in the frequency domain by using Parseval´s identity. Simulation has been performed to illustrate the proposed algorithm and to clarify some points in the design procedure.
Keywords :
delays; force feedback; position control; Euler-Lagrangian dynamic system equation; bilateral teleoperation; constant time delay; environment disturbances; force feedback; human disturbances; linear teleoperation system; linear time invariant controller; position coordination; position tracking; velocity signals; Control systems; Delay effects; Equations; Force control; Force feedback; Frequency domain analysis; Humans; Robot control; Robot kinematics; Tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
Type :
conf
DOI :
10.1109/IROS.2007.4399465
Filename :
4399465
Link To Document :
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