Skip to main content
SpringerLink
Log in

Design and stability analysis of impedance controller for bilateral teleoperation under a time delay

  • Published:
KSME International Journal Aims and scope Submit manuscript

Abstract

A new impedance controller is proposed for bilateral teleoperation under a time delay. The proposed controller does not need to measure or estimate the time delay in the communication channel using the force loop-back. In designing a stable impedance controller, absolute stability is used as a stability analysis tool, which results in a less conservative controller than the passivity concept. Moreover, in order to remove the conservatism associated with the assumption of infinite port impedances, the boundaries of human and environment impedance are set to finite values. Based on this, this paper proposes a parameter design procedure for stable impedance controllers. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Abbreviations

T1 :

Time delay from the master to the slave

T2 :

Time delay from the slave to the master

Ze,max :

Maximum of the environment impedance

Zh,max :

Maximum of the human impedance

Zh,min :

Minimum of the human impedance

m, b, k:

Mass, damping, and stiffness in the desired impedance

f*(w):

Modified absolute stability criterion

fe :

Force exerted on the slave by its environment

fh :

Force applied at the master by the operator

kf :

Force scale factor

kp :

Position scale factor

m, b:

Mass and viscous coefficient in dynamics

u:

Input torque of the device

x:

Position of the device

References

  • Adams, R. J. and Hannaford, B., 1999, “Stable Haptic Interaction with Virtual Environments,”IEEE Transactions on Robotics and Automation, Vol. 15, No. 3, pp. 465–474.

    Article  Google Scholar 

  • Adams, R. J. and Hannaford, B., 2002, “Control Law Design for Haptic Interfaces to Virtual Reality,”IEEE Transactions on Control Systems Technology, Vol. 10, No. 1, pp. 3–13.

    Article  Google Scholar 

  • Anderson, R. J. and Spong, M. W., 1989, “Bilateral Control of Teleoperators with Time Delay,”IEEE Transactions on Automatic Control, Vol. 34, No. 5, pp. 494–501.

    Article  MathSciNet  Google Scholar 

  • Cho, H. C., Park, J. H., Kim, K. and Park, J. O., 2001, “Sliding-Model-Based Impedance Controller for Bilateral Teleoperation under Varying Time-Delay,”IEEE International Conference on Robotics and Automation, pp. 1025–1030.

  • Colgate, J. E., 1993, “Robust Impedance Shaping Telemanipulation,”IEEE Transactions on Robotics and Automation, Vol. 9, No. 4, pp. 374–384.

    Article  Google Scholar 

  • Dubey, R. V., Chan, T. F. and Everett, S. E., 1997, “Variable Damping Impedance Control of a Bilateral Telerobotic System,”IEEE Control Systems Magazine, Vol. 17, No. 1, pp. 37–44.

    Article  Google Scholar 

  • Hannaford, B., 1989, “Stability and Performance Tradeoffs in Bilateral Telemanipulation,”IEEE International Conference on Robotics and Automation, pp. 1764–1767.

  • Hashtrudi-Zaad, K. and Salcudean, S. E., 2001, “Analysis of Control Architecture for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators,”International Journal of Robotics Research, Vol. 20, No. 6, pp. 419–445.

    Article  Google Scholar 

  • Haykin, S. S., 1970,Active Network Theory, Addison-Wesley.

  • Hogan, N., 1985, “Impedance Control: An Approach to Manipulation : Part I-Theory,”Journal of Dynamic Systems, Measurement, and Control, Vol. 107, No. 1, pp. 1–7.

    Article  Google Scholar 

  • Hwang, D. Y., Hannaford, B. and Choi, H. R., 2001, “Identification of Feasible Scaled Teleoperation Region Based on Scaling Factors and Samping Rates,”KSME International Journal, Vol. 15, No. 1, pp. 1–9.

    Article  Google Scholar 

  • Kim, J.H., Chang, P. H. and Park, H. S., 2003, “Transparency Implementation for Bilateral Teleoperation System by Using Two-Channel Control Architecture,”KSME (in Korea), Vol. 27, No. 11, pp. 1967–1978.

    Article  Google Scholar 

  • Lawrence, D. A., 1993, “Stability and Transparency in Bilateral Teleoperation,”IEEE Transactions on Robotics and Automation, Vol. 9, No. 5, pp. 624–637.

    Article  Google Scholar 

  • Llewellyn, F. B., 1952, “Some Fundamental Properties of Transmission Systems,”Proceedings IRE, pp. 271–283.

  • Niemeyer, G. and Slotine, J. E., 1997, “Using Wave Variables for System Analysis and Robot Control,”IEEE International Conference on Robotics and Automation, pp. 1619–1625.

  • Park, J. H., Song, J. H. and Cho, H. C., 2000, “Impedance Modulation for a Teleoperator Using Distance Measurement,”International Conference on Control, Automation, Robotics and Vision, Paper #157.

  • Raju, G. J., Verghese, G. C. and Sheridan, T. B., 1989, “Design Issues in 2-Port Network Models of Bilateral Remote Manipulation,”IEEE International Conference on Robotics and Automation, pp. 1316–1321.

  • Rubio, A., Avello, A. and Florez, J., 1999, “Adaptive Impedance Modification of a Master-Slave Manipulator,”IEEE International Conference on Robotics and Automation, pp. 1794–1796.

Download references

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Hanyang University, 133-791, Haengdang-Dong, Sungdong-Ku, Seoul, Korea

    Hyun Chul Cho & Jong Hyeon Park

Authors
  1. Hyun Chul Cho
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jong Hyeon Park
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jong Hyeon Park.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Cho, H.C., Park, J.H. Design and stability analysis of impedance controller for bilateral teleoperation under a time delay. KSME International Journal 18, 1131–1139 (2004). https://doi.org/10.1007/BF02983287

Download citation

  • Received:

  • Revised:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF02983287

Key Words

Search

Navigation