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Mechatronic Design Optimization of a Teleoperation System Based on Bounded Environment Passivity

  • Bert Willaert
  • Brecht Corteville
  • Herman Bruyninckx
  • Hendrik Van Brussel
  • Emmanuel B. Vander Poorten
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6191)

Abstract

This paper presents a mechatronic analysis of a teleoperation system that provides haptic feedback. The analysis, based on the Bounded Environment Passivity method, describes the combined effect of the teleoperation controller and the master and slave hardware, including the effect of structural flexibilities, which have often been neglected in the domain of teleoperation. This results in rules of thumb for the design of the hardware and the tuning of the controller. As two of these rules of thumb pose a trade-off in hardware design, an unprecedented conceptual design optimization is described in a second part of this paper. The objective is to demonstrate the need for a mechatronic approach to the design of teleoperation systems in order to obtain maximal system performance.

Keywords

Mechatronics Teleoperation Passivity 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Bert Willaert
    • 1
  • Brecht Corteville
    • 1
  • Herman Bruyninckx
    • 1
  • Hendrik Van Brussel
    • 1
  • Emmanuel B. Vander Poorten
    • 1
  1. 1.Dept. of Mechanical EngineeringK.U. LeuvenBelgium

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