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The International Journal of Robotics Research
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A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design

Liya Ni

Handshake Interactive Technologies Inc., 40 Weber Street East, Lobby Suite 50, Kitchener, Ontario, Canada N2H 6R3lni{at}handshakeinteractive.com

David W. L. Wang

Dept. of Electrical & Computer Engineering, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, Canada N2L 3G1dwang{at}kingcong.uwaterloo.ca

To lower the cost of a force-reflecting teleoperation system, position errors instead of direct measurements from force/torque sensors can be used for force feedback. An investigation on transparency shows that position-error-based teleoperation provides poor transparency when using constant controller gains, and this can be overcome by gain switching. The scenario studied in this paper is a position-errorbased bilateral teleoperation system when the slave robot is either in free motion or colliding with a stationary stiff environment. A contact stability analysis is presented for teleoperation systems with constant controller gains and then extended to a gain-switching teleoperation system. Issues on the design of a gain-switching control scheme are discussed. The effectiveness of the proposed gain-switching control scheme is evaluated experimentally.

Key Words: bilateral teleoperation • gain switching • contact stability

The International Journal of Robotics Research, Vol. 23, No. 3, 255-274 (2004)
DOI: 10.1177/0278364904041563
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A. Shahdi and S. Sirouspour
Model-based Decentralized Control of Time-delay Teleoperation Systems
The International Journal of Robotics Research, March 1, 2009; 28(3): 376 - 394.
[Abstract] [PDF]