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On tracking performance in bilateral teleoperation

Authors :
Chopra, Nikhil
Spong, Mark W.
Ortega, Romeo
Barabanov, Nikita E.
Source :
IEEE Transactions on Robotics. August, 2006, Vol. 22 Issue 4, p861, 6 p.
Publication Year :
2006

Abstract

This paper addresses the problem of steady-state position and force tracking in bilateral teleoperation. Passivity-based control schemes for bilateral teleoperation provide robust stability against network delays in the feedback loop and velocity tracking, but do not guarantee steady-state position and force tracking in general. Position drift due to data loss and offset of initial conditions is a well-known problem in such systems. In this paper, we introduce a new architecture, which builds upon the traditional passivity-based configuration by using additional position control on both the master and slave robots, to solve the steady-state position and force-tracking problem. Lyapunov stability methods are used to establish the range of the position control gains on the master and slave sides. Experimental results using a single-degree-of-freedom master/slave system are presented, showing the performance of the resulting system. Index Terms--Bilateral teleoperation, force tracking, position tracking, time delay.

Details

Language :
English
ISSN :
15523098
Volume :
22
Issue :
4
Database :
Gale General OneFile
Journal :
IEEE Transactions on Robotics
Publication Type :
Academic Journal
Accession number :
edsgcl.150584984