Abstract
The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations.
Highlights
Teleoperation systems enable humans to extend their capacity to manipulate interfaces with better safety, at less cost, and even with better accuracy
A typical teleoperation system is composed of five parts: a human operator, a master robot which is operated by the human operator, a slave robot, the environment interacting with the slave, and the communication channel between the master and the slave
Realizing the disadvantages in applying passivity-based control schemes in controlling teleoperation systems, we propose an alternative method in which internal model control (IMC) structure is introduced to linear teleoperation system design in this work
Summary
Teleoperation systems enable humans to extend their capacity to manipulate interfaces with better safety, at less cost, and even with better accuracy. The passivity-based control approaches which are based on scattering theory [1] or wave variable [2] concept are widely used to design stable teleoperation system with time delays. These controllers render the communication link passive and, guarantee stable bilateral teleoperation of any passive environment by any passive user; see [3] and the references therein. Realizing the disadvantages in applying passivity-based control schemes in controlling teleoperation systems, we propose an alternative method in which internal model control (IMC) structure is introduced to linear teleoperation system design in this work.
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