Transparency of the Generalized Scattering Transformation for Haptic Telepresence
In this paper we analyze the transparency of the generalized scattering transformation applied to teleoperation systems with constant time delay. Particularly, the human operator, the remote environment, and the robot manipulators are modeled as dissipative instead of just passive systems. By the application of this transformation delay-independent stability is guaranteed. It is shown that transparency can be substantially improved compared to the conventional scattering transformation approach. Simulations and experimental results on a three degree-of-freedom teleoperation system validate the presented approach.
Keywordsteleoperation control communication unreliabilities transparency
Unable to display preview. Download preview PDF.
- 2.Hirche, S., Buss, M.: Human perception oriented control aspects of networked telepresence and teleaction systems. In: Proceedings of the International Conference on Instrumentation, Control and Information Technology, Okayama, Japan, pp. 3430–3435 (2005)Google Scholar
- 4.Khalil, H.K.: Nonlinear Systems. Prentice Hall, Englewood Cliffs (1996)Google Scholar
- 5.Lawrence, D.: Stability and transparency in bilateral teleoperation. In: Proceedings of the 31st IEEE Conference on Decision and Control, vol. 3, pp. 2649–2655 (1992)Google Scholar
- 6.Matiakis, T., Hirche, S., Buss, M.: Networked control systems with time-varying delay - stability through input-output transformation. Automatisierungstechnik 56(1), 29–37 (2008)Google Scholar
- 7.Vittorias, I., Hirche, S.: Stable teleoperation with communication unreliabilities and approximate human/environment dynamics knowledge. In: Proceedings of the American Control Conference, ACC (2010)Google Scholar