An advanced teleoperator control system: design and evaluation

The design goal of an advanced teleoperator control system is twofold: (1) to allow the operator´s manual control to be robust to system nonlinearities such as time delays and operator´s control errors, and (2) to support the high performance of teleoperation while reducing the operator´s control burden by providing the master and slave arms with desirable dynamic properties and by allowing the slave arm to automatically perform such control tasks as compliance and force control in the form of task sharing. The authors present a novel teleoperator control system achieving the above design goal by taking the following into consideration: the human dynamics involved in generating control command based on visual and force feedback is modeled and incorporated into the controller design and evaluation: the dynamic characteristics of slave and master arms are actively modified in such a way as to implement the desirable dynamic characteristics; and the force feedback is redefined in terms of the combination of opposition and force discrepancies in order to establish the required man/machine dynamic coordination under shared control. The proposed control system with human dynamics in the control loop is simulated and compared with a number of conventional methods in the presence of human control errors and time delays