This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Citation Map Services Email this article to a friend Similar articles in this journal Similar articles in Web of Science Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via HighWire Citing Articles via Web of Science (23) Citing Articles via Google Scholar Citing Articles via Scopus Google Scholar Articles by Hashtrudi-Zaad, K. Articles by Salcudean, S. E. Search for Related Content Social Bookmarking                         What's this?

Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators

Department of Electrical and Computer Engineering, Queen’s University, Kingston, Ontario, Canada K7L 3N6khz{at}ece.queensu.ca

Septimiu E. Salcudean

Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, British Columbia, Canada V6T 1Z4tims{at}ece.ubc.ca

A large number of bilateral teleoperation control architectures in the literature have been designed based on assumed impedance models of the master and slave manipulators. However, hydraulic or heavily geared and many other manipulators cannot be properly described by impedance models. In this paper, a common four-channel bilateral control architecture designed for the above impedance models is extended to teleoperation systems with master and slave manipulators of either the admittance or impedance type. Furthermore, control parameters that provide perfect transparency under ideal conditions are found for each type of teleoperation system. Because in practice such parameters may not lead to systems that are robust to time delays and model uncertainties, an analysis of the stability and performance robustness of this very general architecture and two-channel architectures is also presented. The analysis uses the passivity-based Llewellyn two-port network absolute stability criterion, as well as bounds on the minimum and range of values of the impedance transmitted to the operator. The results of these evaluations provide design guidelines on choosing a particular control architecture and its parameters given different master and slave manipulator structures.

Key Words: absolute stability • bilateral control • two-port network • teleoperation • transparency

The International Journal of Robotics Research, Vol. 20, No. 6, 419-445 (2001)
DOI: 10.1177/02783640122067471


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?

This article has been cited by other articles:

				M. Tavakoli and R. D. Howe Haptic Effects of Surgical Teleoperator Flexibility The International Journal of Robotics Research, October 1, 2009; 28(10): 1289 - 1302. [Abstract] [PDF]

				F. Mobasser and K. Hashtrudi-Zaad Transparent Rate Mode Bilateral Teleoperation Control The International Journal of Robotics Research, January 1, 2008; 27(1): 57 - 72. [Abstract] [PDF]

				J. J. Abbott and A. M. Okamura Pseudo-admittance Bilateral Telemanipulation with Guidance Virtual Fixtures The International Journal of Robotics Research, August 1, 2007; 26(8): 865 - 884. [Abstract] [PDF]

				G. A. V. Christiansson and F. C. T. van der Helm The Low-Stiffness Teleoperator Slave -- a Trade-off between Stability and Performance The International Journal of Robotics Research, March 1, 2007; 26(3): 287 - 299. [Abstract] [PDF]

				A. C. Smith and K. Hashtrudi-Zaad Smith Predictor Type Control Architectures for Time Delayed Teleoperation The International Journal of Robotics Research, August 1, 2006; 25(8): 797 - 818. [Abstract] [PDF]

				G. Niemeyer and J.-J. E. Slotine Telemanipulation with Time Delays The International Journal of Robotics Research, September 1, 2004; 23(9): 873 - 890. [Abstract] [PDF]