A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design  

Oleh:

Ni, Liya ; Wang, David W.L.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 23 no. 3 (Mar. 2004), page 255-274.
Topik: bilateral teleoperation; gain switching; contact stability
Fulltext: 255.pdf (440.26KB)

Isi artikel

To lower the cost of a force-reflecting teleoperation system, position errors instead of direct measurements from force/torque sensors can be used for force feedback. An investigation on transparency shows that position-error-based teleoperation provides poor transparency when using constant controller gains, and this can be overcome by gain switching. The scenario studied in this paper is a position-errorbased bilateral teleoperation system when the slave robot is either in free motion or colliding with a stationary stiff environment. A contact stability analysis is presented for teleoperation systems with constant controller gains and then extended to a gain-switching teleoperation system. Issues on the design of a gain-switching control scheme are discussed. The effectiveness of the proposed gain-witching control scheme is evaluated experimentally.

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