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Haptic Systems 530-655

Haptic Systems 530-655. Mohsen Mahvash Lecture 14 27/1/06. Stability and transparency of  force-feedback  telemanipulation systems. A position-position teleoperation structure Network model of a teleoperation system Transparency and stability References.

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Haptic Systems 530-655

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  1. Haptic Systems530-655 Mohsen Mahvash Lecture 14 27/1/06

  2. Stability and transparency of  force-feedback  telemanipulation systems • A position-position teleoperation structure • Network model of a teleoperation system • Transparency and stability • References

  3. A position-position teleoperation structure User Master Controllers Slave Environment • Objectives: • Performance (Telepresence) • The users should feel that they are directly performing a task rather than controlling a robot • Stability • Control problems: delay, device dynamics, friction

  4. Master robot Controller Slave Robot Environment user Network model of a teleoperation system In general, the teleoperation system behavior is smooth enough to be modeled by a linear model in a neighborhood of an operating point Master Controller Slave

  5. H Matrix Transparency Transparency

  6. Four Channel Controller

  7. Stability of a teleoperation system Scattering operator iff the system is passive

  8. References • R. J. Anderson and M.W. Spong, “Bilateral control of teleoperators withtime delay,” IEEE Trans. Automat. Contr., vol. 34, pp. 494–501, May1989 • D. A. Lawrence, “Stability and transparency in bilateral teleoperation,”IEEE Trans. Robot. Automat., vol. 9, no. 5, pp. 624–637, 1993. • A design framework for teleoperators with kinesthetic feedbackB Hannaford - IEEE Transactions on Robotics and Automation, 1989 • Colgate, J.E., Robust impedance shaping telemanipulation, IEEE Transactions on Robotics and Automation, 1993 Vol:9, Issue: 4,pp. 374-384.

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