Abstract
We describe the application of a generic stability framework for a teleoperation system under time-varying delay conditions, as addressed in a previous work, to a scaled-four-channel (γ-4C) control scheme. Described is how varying delays are dealt with by means of dynamic encapsulation, giving rise to mu-test conditions for robust stability and offering an appealing frequency technique to deal with the stability robustness of the architecture. We discuss ideal transparency problems and we adapt classical solutions so that controllers are proper, without single or double differentiators, and thus avoid the negative effects of noise. The control scheme was fine-tuned and tested for complete stability to zero of the whole state, while seeking a practical solution to the trade-off between stability and transparency in the Internet-based teleoperation. These ideas were tested on an Internet-based application with two Omni devices at remote laboratory locations via simulations and real remote experiments that achieved robust stability, while performing well in terms of position synchronization and force transparency.
Highlights
A teleoperation system consists of master and slave mechanical systems where the master is directly manipulated by a human operator and the slave, operating in a remote environment, is designed to track the master closely
In early works on constant delay, stability was addressed by means of frequency, Laplace or passivity techniques applied to linear time-invariant (LTI) master-slave two-port systems [1,2,3,4,5]
Focusing on Internet-based teleoperation based on delay-dependent control schemes which can provide better transparency properties, the real problem is to establish delay-dependent conditions for systems with two internal control loops ”connected” by delayed signals
Summary
A teleoperation system consists of master and slave mechanical systems where the master is directly manipulated by a human operator and the slave, operating in a remote environment, is designed to track the master closely. Focusing on Internet-based teleoperation based on delay-dependent control schemes which can provide better transparency properties, the real problem is to establish delay-dependent conditions for systems with two internal control loops (master and slave) ”connected” by (time-varying) delayed signals. The two-channel position-error (PE) control scheme was modelled, implemented and experimentally tested for the Internet-based haptic teleoperation of a laboratory 3D crane in normal operation conditions, that is, without contact with the environment Using this generic approach, we presented preliminary results [22] on the 4C control scheme for teleoperating simulated manipulators, as more flexible than 3C [23] or 2C [24] versions.
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