Impedance controller design of Internet-based teleoperation using absolute stability concept
نویسندگان
چکیده
Relationships between impedance parameters and scaling factors are derived using absolute stability and passivity. For this, the teleoperation system is represented as a two-port model with a hybrid matrix. Design procedure of the impedance parameters for the absolute stability of the teleoperator under the time delay is proposed. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system connected through the Internet.
منابع مشابه
Impedance Control with Variable Damping for Bilateral Teleoperation under Time Delay∗
This paper proposes a new impedance controller that is to be applied to bilateral teleoperation under a time delay. The controller has a variable damping designed to achieve a good tacking performance and contact stability concurrently. The damping of the slave impedance is modulated based on the distance between the slave and its environment. The stability of the teleoperation system including...
متن کاملImpedance reflecting rate mode teleoperation
Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for the exchange of derivatives and integral of measured positions and forces. This paper proposes a new control architecture designed based on the environment impedance reflection concept. The performance of this controller is compared to th...
متن کاملBilateral Teleoperation Systems Using Backtracking Search optimization Algorithm Based Iterative Learning Control
This paper deals with the application of Iterative Learning Control (ILC) to further improve the performance of teleoperation systems based on Smith predictor. The goal is to achieve robust stability and optimal transparency for these systems. The proposed control structure make the slave manipulator follow the master in spite of uncertainties in time delay in communication channel and model pa...
متن کاملBilateral teleoperation control to improve transparency in stiff environment with time delay
This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...
متن کاملImpedance control of a teleoperated pneumatic actuator: Implementation and stability Analysis
Design and implementation of a unilateral teleoperated pneumatic system is presented followed by the stability analysis. The system consists of a pneumatic actuator that is subject to an environmental force and is navigated by a human-operated hand controller. Unlike many unilateral systems, the external force is entirely handled on the slave side using an impedance control scheme which adopts ...
متن کامل