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
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Two channel bilateral telemanipulation
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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
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Two-channel telemanipulation architecture with time delay in each communication channel. Solid arrowheads represent signal interaction, whereas hollow ones represent physical interaction.
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Telemanipulation architecture with Smith predictor
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Telemanipulation architecture with adaptive Smith predictor
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Adaptive Smith predictor for an environment of pure stiffness
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(Top) Top view of slave manipulator interacting with environment stiffness and (Bottom) side view of human operator gripping the master manipulator
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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.
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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.




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