Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback
Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2019-12-01
|
| Series: | International Journal of Applied Mathematics and Computer Science |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/amcs-2019-0050 |
| _version_ | 1819016026722926592 |
|---|---|
| author | Estrada Edgar Yu Wen Li Xiaoou |
| author_facet | Estrada Edgar Yu Wen Li Xiaoou |
| author_sort | Estrada Edgar |
| collection | DOAJ |
| description | Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods. |
| first_indexed | 2024-12-21T02:41:05Z |
| format | Article |
| id | doaj.art-26f9f706fabb431cb7369d64c4544988 |
| institution | Directory Open Access Journal |
| issn | 2083-8492 |
| language | English |
| last_indexed | 2024-12-21T02:41:05Z |
| publishDate | 2019-12-01 |
| publisher | Sciendo |
| record_format | Article |
| series | International Journal of Applied Mathematics and Computer Science |
| spelling | doaj.art-26f9f706fabb431cb7369d64c45449882022-12-21T19:18:40ZengSciendoInternational Journal of Applied Mathematics and Computer Science2083-84922019-12-0129468169210.2478/amcs-2019-0050amcs-2019-0050Stability and Transparency of Delayed Bilateral Teleoperation with Haptic FeedbackEstrada Edgar0Yu Wen1Li Xiaoou2Department of Automatic Control CINVESTAV-IPN, Av IPN 2508, 07360Mexico City, MexicoDepartment of Automatic Control CINVESTAV-IPN, Av IPN 2508, 07360Mexico City, MexicoDepartment of Computation CINVESTAV-IPN, Av IPN 2508, 07360Mexico City, MexicoHaptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.https://doi.org/10.2478/amcs-2019-0050teleoperationforce controlstabilitytransparency |
| spellingShingle | Estrada Edgar Yu Wen Li Xiaoou Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback International Journal of Applied Mathematics and Computer Science teleoperation force control stability transparency |
| title | Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback |
| title_full | Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback |
| title_fullStr | Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback |
| title_full_unstemmed | Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback |
| title_short | Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback |
| title_sort | stability and transparency of delayed bilateral teleoperation with haptic feedback |
| topic | teleoperation force control stability transparency |
| url | https://doi.org/10.2478/amcs-2019-0050 |
| work_keys_str_mv | AT estradaedgar stabilityandtransparencyofdelayedbilateralteleoperationwithhapticfeedback AT yuwen stabilityandtransparencyofdelayedbilateralteleoperationwithhapticfeedback AT lixiaoou stabilityandtransparencyofdelayedbilateralteleoperationwithhapticfeedback |