Abstract
There are many manual control tasks in which the operator base moves in response to joystick movement. Base motion feedback can interfere with the joystick and operator dynamics, resulting in instability and reduced performance. This paper proposes a novel approach to the cancellation of such “biodynamic feedthrough”. A model-based approach is used to formulate a μ-synthesis robust performance design problem that is solved by D-K iterations. The resultant controllers are robustly stable with respect to variations in the arm/joystick and biodynamic feedthrough parameters, while optimizing relevant performance measures. Experimental studies demonstrate the effectiveness of the designed controllers. The approach developed in this paper can be applied to any system involving teleoperation from movable bases.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Velger M. et. al. 1988 Adaptive filtering of biodynamic stick feedthrough in manipulation tasks on board moving platforms. Journal of Guidance, Control, and Dynamics vol. 11 no. 2 pp. 153–158.
McLeod R.W., Griffin M.J. 1989 A review of the effects of translational whole-body vibration on continuous manual control performance. Journal of Sound and Vibration. vol. 133 no. 1 pp. 55–115.
Hess R. A. et al. 1998 Theory for roll-ratchet phenomenon in high-performance aircraft. Journal of Guidance, Control, and Dynamics 14:651–655.
Idan M., Merhav S.J. 1989 Effects of biodynamic coupling on the human operator model. Journal of Guidance, vol. 13 no. 4 pp. 630–637.
J.W. Smith and T. Montgomery 1996 Biodynamicallly induced and controller coupled oscillations experienced on the F-16XL aircraft during rolling maneuvers. NASA Technical Memorandum 4752.
Arai Fumihito et. al. 2000 Dynamical analysis and suppression of human hunting in the excavator operation. Proc. of the 2000 Int. Workshop on Robot and Human Interactive Communication pp. 394–399.
Jex H. R. et. al. 1978 Biomechanical models for vibration feedthrough to hands and head for a semisupine pilot. Aviation, Space, and Environment Medicine pp. 304–316.
Velger M. et. al. 1984 Suppression of biodynamic disturbance and pilot-induced oscillations by adaptive filtering. Journal of Guidance, Control, and Dynamics vol. 7 no. 4 pp. 401–409.
Gillespie R.B. et. al. 1999 Cancellation of feedthrough dynamics using a force-reflecting joystick. Proc. ASME Dyn. Sys. Cont. Division, pp. 319–326.
Salcudean S.E. et. al. 1994 A six degree-of-freedom, hydraulic, one person motion simulator. Proc. IEEE Int. Conf. Robot. Automat., pp. 2437–2443.
Sirouspour M.R. et. al. 2000 Haptic interface control-design issues and experiments with a planar device. Proc IEEE Int. Conf. Robot. Automat. 789–794.
Hess R.A. 1990 Analyzing manipulator and feel system effects in aircraft flight control. IEEE Trans. Sys., Man, and Cyber., vol. 20 no. 4 pp. 923–931.
Zhou K., Doyle J.C. 1998 Essentials of Robust Control. Prentice Hall, New Jersey.
Balas G.J. et. al. 2001 μ-Analysis and Synthesis Toolbox. The MathWorks Inc..
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Sirouspour, M.R., Salcudean, S.E. (2003). Robust Controller Design for Cancelling Biodynamic Feedthrough. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_10
Download citation
DOI: https://doi.org/10.1007/3-540-36268-1_10
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00305-2
Online ISBN: 978-3-540-36268-5
eBook Packages: Springer Book Archive