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TECHNICAL PAPERS

Multivariable Loop-Shaping in Bilateral Telemanipulation

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

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

J. Dyn. Sys., Meas., Control 128(3), 482-488 (Nov 11, 2005) (7 pages) doi:10.1115/1.2229251 History: Received May 23, 2003; Revised November 11, 2005

This paper presents an architecture and control methodology for obtaining transparency and stability robustness in a multivariable bilateral teleoperator system. The work presented here extends a previously published single-input, single-output approach to accommodate multivariable systems. The extension entails the use of impedance control techniques, which are introduced to render linear the otherwise nonlinear dynamics of the master and slave manipulators, in addition to a diagonalization multivariable loop shaping technique, used to render tractable the multivariable compensator design. A multivariable measure of transparency is proposed based on the relative singular values of the environment and transmitted impedance matrices. The approach is experimentally demonstrated on a three degree-of-freedom scaled telemanipulator pair with a highly coupled environment. Using direct measurement of the power delivered to the operator to assess the system’s stability robustness, along with the proposed measure of multivariable transparency, the loop-shaping compensation is shown to improve the stability robustness by a factor of two and the transparency by more than a factor of five.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

General two-channel bilateral telemanipulation system

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Figure 2

Multivariable slave/environment dynamics: (a) Schematic of closed-loop position-controlled slave manipulator interacting with environment impedance; (b) restructuring of interaction to clearly show the closed-loop slave’s dependence on Ze; (c) inclusion of local feedback to decouple Gs from Ze; and (d) schematic of resulting dynamics.

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Figure 3

Multivariable bilateral telemanipulation system

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Figure 4

Three degree-of-freedom master manipulator

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Figure 5

Unimate PUMA 560 robot manipulator

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Figure 6

Transparency distortion corresponding to each singular value in the transmitted impedance for the uncompensated system. The dashed lines indicate the ±3dB desired performance specification.

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Figure 7

Instantaneous power (solid line) and moving-average power (dashed line) output to the human: (a) Uncompensated teleoperation with the original environment impedance; (b) uncompensated teleoperation with the environment impedance scaled by 1.1.

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Figure 8

Transparency distortion corresponding to each singular value in the transmitted impedance for the compensated system. The dashed lines indicate the ±3dB desired performance specification.

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Figure 9

Instantaneous power (solid line) and moving-average power (dashed line) output to the human: (a) Compensated teleoperation with the environment impedance scaled by 1.9; (b) compensated teleoperation with the environment impedance scaled by 2.

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