Online tuning of wave impedance in telerobotics

Author

Tanner, Neal A. ; Niemeyer, Günter

Author_Institution

Telerobotics Lab., Stanford Univ., CA, USA

Volume

1

fYear

2004

fDate

1-3 Dec. 2004

Firstpage

7

Abstract

Wave variable based controllers ensure the stability of force-reflecting teleoperators with arbitrary and unknown communication delays. The wave impedance provides a fundamental tuning parameter that allows the designer to trade off performance aspects. We suggest and explore automatically tuning this parameter online to capture the best behavior under varying task configurations. In particular, this strategy adjusts force feedback in order to lower resistance during free space motions and strengthen feedback when in contact. Examining the effects of a variable wave impedance, we develop a generalized wave transformation better suited to online changes and propose a tuning rule to maintain system passivity. Our results are illustrated and confirmed in simulation.

Keywords

force feedback; multivariable control systems; stability; telerobotics; tuning; force feedback; free space motion; online tuning; stability; telerobotics; wave impedance; wave variable control; Automatic control; Communication system control; Contact resistance; Force control; Force feedback; Impedance; Propagation delay; Stability; Teleoperators; Telerobotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2004 IEEE Conference on

Print_ISBN

0-7803-8645-0

Type

conf

DOI

10.1109/RAMECH.2004.1438883

Filename

1438883