A Study of Transparency in Wave-based Teleoperation

Author

Aziminejad, A. ; Moallem, M. ; Patel, R.V.

Author_Institution

Dept. of Electr. & Comput., Univ. of Western Ontario, London, Ont.

fYear

2006

fDate

3-5 July 2006

Firstpage

392

Lastpage

397

Abstract

Transparency and stability are two key issues in bilateral teleoperation. This paper develops an analytical framework for investigating transparency of a position error-based teleoperator without and with time delay and derives criteria for optimum transparent operation in each case. The analysis is based upon two-port network modelling of the teleoperation system. For stabilizing this teleoperator in the presence of communication latencies, the Niemeyer-Slotine wave based approach is employed and its performance with respect to transparency is investigated. In order to improve transparency in a wave-based teleoperator, two different methods are rigorously studied and compared. Numerical simulation results have been included in order to support the theoretical analysis

Keywords

delays; mobile robots; telerobotics; Niemeyer-Slotine wave; bilateral teleoperation; position error-based teleoperator; time delay; wave-based teleoperation; Communication system control; Delay effects; Displays; Feedback; Robot sensing systems; Sliding mode control; Stability; System performance; Teleoperators; Voltage; Bilateral teleoperation; Passivity theorem; Transparency; Wave transformation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, 2006 IEEE International Conference on

Conference_Location

Budapest

Print_ISBN

0-7803-9712-6

Electronic_ISBN

0-7803-9713-4

Type

conf

DOI

10.1109/ICMECH.2006.252559

Filename

4018394