Stability analysis of delayed 4-channel bilateral teleoperation systems

Author

Miandashti, Noushin ; Tavakoli, Mahdi

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Alberta, Edmonton, AB, Canada

fYear

2013

fDate

14-17 April 2013

Firstpage

701

Lastpage

706

Abstract

This paper studies the stability of a delayed 4-channel bilateral teleoperation system based on the passivity framework. Assuming that the operator and the environment are passive systems, the stability of the teleoperation system is reduced to ensuring the passivity of a master control unit (MCU), a slave control unit (SCU), and the time-delayed communication channel. Each of these three blocks is modeled as a 2 × 2 transfer function matrix and passified using our proposed approach in a multi-loop feedback (MLF) structure. We report conditions on the controllers of the 4-channel architecture that are sufficient for passivity of MCU and SCU. Simulation results confirm the validity of these conditions for the stability of the teleoperation system.

Keywords

delay systems; feedback; stability; telerobotics; transfer function matrices; MCU; MLF structure; SCU; delayed 4-channel bilateral teleoperation system; master control unit; multiloop feedback structure; passivity framework; slave control unit; stability analysis; time-delayed communication channel; transfer function matrix; Communication channels; Delays; Force; Iron; Periodic structures; Robots; Stability analysis; Control Methods; H.5.2 [Information Interfaces and Presentation]: User Interfaces — Haptic I/O; I.2.9 [Artificial Intelligence]: Problem Solving; Search — Control theory;

fLanguage

English

Publisher

ieee

Conference_Titel

World Haptics Conference (WHC), 2013

Conference_Location

Daejeon

Print_ISBN

978-1-4799-0087-9

Type

conf

DOI

10.1109/WHC.2013.6548494

Filename

6548494