Volume 27 Issue 1 - Publication Date: 1 January 2008
Transparent Rate Mode Bilateral Teleoperation Control
Farid Mobasser Invenium Technologies Corporation, Toronto, Ontario M2N 6K1, Canada and Keyvan Hashtrudi-Zaad Department of Electrical & Computer Engineering, Queen’s University, Kingston, Ontario K7L 3N6, Canada
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 an exchange of derivative and integral of measured positions and forces which make transparent rate mode controllers prone to noise and abrupt contact force changes. Moreover, the performance of controllers declines in the presence of communication delays. This paper proposes two control architectures based on the use of local force feedback (LFF) and environment impedance reflection (EIR). The LFF controllers eliminate a force channel while preserving transparency under ideal conditions. In the EIR controller, the identified impedance of the environment is employed in the master controller to predict the slave position and contact force derivatives. The stability robustness and performance of these controllers are evaluated and compared to those of a benchmark controller under different operational conditions, such as noise and delay, using analytical methods and experimental results.
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