Multilateral teleoperation under asymmetric time delays: L2 stability and robustness

Ugur Tumerdem

doi:10.1177/1729881417710148

Abstract

Multilateral teleoperation under asymmetric time delays: <i>L</i><sub>2</sub> stability and robustness

Highlights

Haptic or bilateral teleoperation is the remote operation of robotic systems with haptic/force feedback to the operator from the remote side
The master robot is moved by an operator with the application of force, and the motion of the master is copied or scaled by the slave robot and any forces acting on the slave are reflected to the operator
We show that the controller we propose can deal with asymmetric time delays between the robots

Summary

Introduction

Haptic or bilateral teleoperation is the remote operation of robotic systems with haptic/force feedback to the operator from the remote side. We are providing a stability proof and relaxed conditions for designing four-channel-based multilateral controllers guaranteeing delay independent stability of multilateral systems by taking operator and environmental parameters into consideration as mentioned in the literature.28 This relaxed analysis method helps us employ four-channel-based controllers with high position and force gains and obtain better position tracking/force reflection results in haptic training experiments compared with the methods in the literature, which are limited due to absolute stability or passivity criteria and neglect environmental parameters. The novelty of this article is threefold: first, we propose a more relaxed criterion for checking the stability of multilateral teleoperation systems under asymmetric time delays; second, we propose force reflecting four-channel-based controllers using damping injection whose parameters can be determined by the proposed stability criterion; third, we. A strongly connected graph with N nodes has the adjacency matrix

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Conclusions

Adv Abstract