0
TECHNICAL BRIEFS

Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation

[+] Author and Article Information
Kevin B. Fite, Michael Goldfarb

Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235

Angel Rubio

CEIT, Mechanical Department, P° Lardizabal 15, PO Box 1555, 20018 San Sebastian, Spain

J. Dyn. Sys., Meas., Control 126(3), 650-656 (Dec 03, 2004) (7 pages) doi:10.1115/1.1790539 History: Received December 26, 2003; Online December 03, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.

References

Anderson,  R. J., and Spong,  M. W., 1989, “Bilateral Control of Teleoperators With Time Delay,” IEEE Trans. Autom. Control, 34, pp. 494–501.
Niemeyer,  G., and Slotine,  J. E., 1992, “Stable Adaptive Teleoperation,” IEEE J. Ocean. Eng., 16, pp. 152–162.
Lawrence,  D. A., 1993, “Stability and Transparency in Bilateral Telemanipulation,” IEEE Trans. Rob. Autom., 9, pp. 624–637.
Yoshikawa, T., and Ueda, J., 1996, “Analysis and Control of Master-Slave Systems With Time Delay,” Proceedings of the IEEE Conference on Intelligent Robots and Systems, pp. 1366–1373.
Munir,  S., and Book,  W. J., 2002, “Internet-Based Teleoperation Using Wave Variables With Prediction,” IEEE/ASME Trans. Mechatronics,7, pp. 124–133.
Fite,  K. B., Speich,  J. E., and Goldfarb,  M., 2001, “Transparency and Stability Robustness in Two-Channel Bilateral Telemanipulation,” ASME J. Dyn. Syst., Meas., Control, 123, pp. 400–407.
Huang,  H., Chen,  C., Chao,  Y., and Chen,  P., 1990, “A Modified Smith Predictor With an Approximate Inverse of Dead Time,” AIChE J., 36, pp. 1025–1031.
Smith,  O. J. M., 1957, “Closer Control of Loops With Dead Time,” Chem. Eng. Prog., 53, pp. 217–219.
Palmor,  Z., 1980, “Stability Properties of Smith Dead-Time Compensator Controllers,” Int. J. Comput. Vis., 32, pp. 937–949.
Slotine, J. E., and Li, W., 1991, Applied Nonlinear Control, Prentice–Hall, Englewood Cliffs, NJ.

Figures

Grahic Jump Location
Two channel bilateral telemanipulation
Grahic Jump Location
Slave/environment dynamics: (a) Schematic of closed-loop motion-controlled slave manipulator interacting with environment impedance; (b) Restructuring of interaction, indicating dependence of Gs on Ze; (c) Use of local feedback of environment interaction force to decouple Gs from Ze; and (d) Schematic of resulting decoupled dynamics
Grahic Jump Location
Two-channel telemanipulation architecture with time delay in each communication channel. Solid arrowheads represent signal interaction, whereas hollow ones represent physical interaction.
Grahic Jump Location
Telemanipulation architecture with Smith predictor
Grahic Jump Location
Telemanipulation architecture with adaptive Smith predictor
Grahic Jump Location
Adaptive Smith predictor for an environment of pure stiffness
Grahic Jump Location
(Top) Top view of slave manipulator interacting with environment stiffness and (Bottom) side view of human operator gripping the master manipulator
Grahic Jump Location
The transparency transfer function for values of sZe ranging from 75 N/m to 1275 N/m, using the Smith predictor. Note that increasing environment stiffness corresponds to decreasing transparency magnitude and phase. The transparency bandwidth degrades rapidly for sZe less than 500 N/m.
Grahic Jump Location
The transparency transfer function for values of sZe ranging from 75 N/m to 1500 N/m, using the adaptive Smith predictor. The loop with adaptation exhibits a ±3 dB bandwidth of approximately 2 Hz or more for the whole range of environment impedances.

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In