1 Haptic Systems 530-655 Mohsen Mahvash Lecture 14 27/1/06.
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Transcript of 1 Haptic Systems 530-655 Mohsen Mahvash Lecture 14 27/1/06.
1
Haptic Systems530-655
Mohsen Mahvash Lecture 1427/1/06
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A position-position teleoperation structure
Network model of a teleoperation system
Transparency and stability
References
Stability and transparency of force-feedback telemanipulation systems
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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
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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
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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
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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.