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The International Journal of Robotics Research
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The Low-Stiffness Teleoperator Slave — a Trade-off between Stability and Performance

Göran A. V. Christiansson

Delft Haptics Laboratory, Delft University of Technology, The Netherlands g.christiansson{at}tudelft.nl

Frans C. T. van der Helm

Delft Haptics Laboratory, Delft University of Technology, The Netherlands f.c.t.vanderhelm{at}3me.tudelft.nl

Stability is essential for teleoperation and a prerequisite for performance. This paper analyzes the the stability/performance trade-off of a teleoperator where the slave device has a built-in passive intrinsic stiffness. Stability is quantified as time delay robustness and performance is expressed using teleoperator damping and teleoperator stiffness, the boundaries of the Colgate Z-width

Two classic control schemes, position error and Lawrence 4-channel, are used along with a novel 5-channel scheme where the slave stiffness deflection is measured, and compensated for, to improve the performance.

The teleoperator system was analyzed theoretically using a linear model and the findings were experimentally validated on a one degree of freedom teleoperation setup.

It was found that:

  • • A lower slave stiffness improves stability for all three teleoperator architectures.
  • • The stability boundary of the three controllers is similar.
  • • The performance of the controllers increases from: (poor) position error, 4-Channel to (excellent) 5-channel.
  • • A classical linear analysis method can accurately predict the stability characteristics of the teleoperator system.

Therefore it can be concluded that a compliant slave device offers a stability advantage for a range of teleoperation situations and that the loss of performance can be partly compensated.

Key Words: Teleoperation • haptics • perception

The International Journal of Robotics Research, Vol. 26, No. 3, 287-299 (2007)
DOI: 10.1177/0278364906076264
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[Abstract] [PDF]