1

Haptic Systems530-655

Mohsen Mahvash Lecture 1427/1/06

2

A position-position teleoperation structure

Network model of a teleoperation system

Transparency and stability

References

Stability and transparency of force-feedback telemanipulation systems

3

A position-position teleoperation structure

0pp

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

Master SlaveControllers EnvironmentUser

4

Network model of a teleoperation system

f

uf eZMaster

Controller

Slave

uZ

user Master

robot

Controller EnvironmentSlave

Robot

v

1f

1v 2v2f

e

e

h

h

f

v

hh

hh

v

f

2221

1211hf

In general, the teleoperation system behavior is smooth enough to be modeled by

a linear model in a neighborhood of an operating point

5

H Matrix

uf eZ

uZ

Transparenc

y

H

e

e

h

h

f

v

hh

hh

v

f

2221

1211hf ef

01

10H

out

in

zscale

velocityScale

forcevz

H1

Re

et zz Transparenc

y

122211211 ))(( eet zhhzhhz

6

Four Channel Controller 44311 )()( CCCCZDCZh ssmm

22312 )1()( CCCDCZh mm

)1( 4321 CCCDh s

)1( 2322 CCDh 1

331 )( mm CCZCCD

7

Stability of a teleoperation system

uf eZ

uZ

H

e

e

h

h

f

v

hh

hh

v

f

2221

1211hf ef

Scattering operator

)( VFSVF 1))()()((

10

01)(

IsHIsHsS

1))()((sup 2/1 wSwSTw

iff the system is passive

8

References

1. R. J. Anderson and M.W. Spong, “Bilateral control of teleoperators withtime delay,” IEEE Trans. Automat. Contr., vol. 34, pp. 494–501, May1989

2. D. A. Lawrence, “Stability and transparency in bilateral teleoperation,”IEEE Trans. Robot. Automat., vol. 9, no. 5, pp. 624–637, 1993.

3. A design framework for teleoperators with kinesthetic feedbackB Hannaford - IEEE Transactions on Robotics and Automation, 1989

4. Colgate, J.E., Robust impedance shaping telemanipulation, IEEE Transactions on Robotics and Automation, 1993 Vol:9,  Issue: 4,pp. 374-384.