The Low-Stiffness Teleoperator Slave — A Trade-Off Between Stability And Performance  

Oleh:

[s.n]

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 26 no. 3 (Mar. 2007), page 287-300.
Topik: Teleoperation; haptics; perception
Fulltext: 287.pdf (2.75MB)

Isi artikel

Stability is essential for teleoperation and a prerequisite for performance. T paper analyzes the the stability/performance trade-off of a teleoperator where the slave device has a built-in passive intrinsic shiffe&s Stability is quantifed as time delay rbsnss and performance is expressed using tekoperator damping and teleoperator stiffness, the boundaries ofthe Colgate Z-width Two classic control schemes, position error and Lawrence 4- channel, are used along with a novel 5-channel scheme where the slave stiffness deflection is measured, and compensated for, to improve the performance. 77Te teleoperator system was analyzed theoretically using a linear model and thefindings were experimentally validated on a one degree offreedom teleoperation setup. It wasfound that: * A lower slave stiffness improves stability for all three teleoperator architectures. * The stability boundary ofthe three controllers is similar. * The performance ofthe controllers increasesfrom: (poor) position error, 4-Channel to (excellent) 5-channel. * A classical linear analysis method can accurately predict the stability characteristics ofthe teleoperator system. Therefore it can be concluded that a compliant slave device offers a stability advantage for a range of teleoperation situations and that the loss ofperformance can be partly compensated.

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