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Advances in Telerobotics pp 163–176Cite as

Bilateral Control Architectures for Telerobotics

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 31))

Summary

This chapter introduces and surveys bilateral (master-slave) control methods and system architectures for telerobotics known in the literature. The discussion takes a focus most relevant to subsequent chapters, see [1, 2, 3] for complementary and more complete surveys. Firstly, an introductory example of a control-oriented block diagram formulation for a typical two-channel force-velocity architecture is presented, where the human system interface (master) is force controlled and the teleoperator (slave) is velocity controlled. Then a network theoretic view using n-ports is taken and the basic concept of passivity is explained meaning that an interconnection of passive subsystems results in an overall passive system. Transparency is defined, meaning that the human operator should ideally feel as if directly acting in the remote environment (is not able to feel the technical systems/communication network at all). The well known and for ideal transparency required four-channel architecture is presented. The important discussion of time delay in the communication network, which impairs or might threaten stability properties of the closed loop teleoperation system, is then discussed. The most successful approach using the scattering (wave variable) transformation approach is presented, which guarantees that the communication two-port is lossless (passive) for arbitrary constant time delay. Finally, we mention the key challenges in the design of bilateral teleoperation systems and give a short preview of the subsequent chapters addressing some of these challenges.

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Author information

Authors and Affiliations

  1. Fujita Lab, Dept. of Mechanical and Control Engineering, Tokyo Institute of Technology, 152-8552, Tokyo, Japan

    Sandra Hirche

  2. Dpto. Automática, Ing. Electrónica e Inf. Industrial, Universidad Politécnica de Madrid, C/. José Gutierrez Abascal, 2, 28006, Madrid, Spain

    Manuel Ferre & Jordi Barrio

  3. Laboratory of Automation and Robotics, DEIS, University of Bologna, Viale Risorgimento 2, 40136, Bologna, Italy

    Claudio Melchiorri

  4. Institute of Automatic Control Engineering, Technische Universität München, D-80290, Munich, Germany

    Martin Buss

Authors
  1. Sandra Hirche
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  2. Manuel Ferre
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  3. Jordi Barrio
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  4. Claudio Melchiorri
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  5. Martin Buss
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Editor information

Editors and Affiliations

  1. Dpto. de Automática, Ingeniería Electrónica e Informática Industrial, Universidad Politécnica de Madrid, 28006, Madrid, Spain

    Manuel Ferre  & Rafael Aracil  & 

  2. Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290, Munich, Germany

    Martin Buss

  3. Laboratory of Automation and Robotics Department of Electronics, Computer Science and Systems, University of Bologna, 40136, Bologna, Italy

    Claudio Melchiorri

  4. Robotics Lab. Depto. de Ingeniería de Sistemas y Automática, Universidad Carlos III de Madrid, 28911, (Leganés) Madrid, Spain

    Carlos Balaguer

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© 2007 Springer-Verlag Berlin Heidelberg

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Hirche, S., Ferre, M., Barrio, J., Melchiorri, C., Buss, M. (2007). Bilateral Control Architectures for Telerobotics. In: Ferre, M., Buss, M., Aracil, R., Melchiorri, C., Balaguer, C. (eds) Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol 31. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71364-7_11

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  • DOI: https://doi.org/10.1007/978-3-540-71364-7_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-71363-0

  • Online ISBN: 978-3-540-71364-7

  • eBook Packages: EngineeringEngineering (R0)

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