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The International Journal of Robotics Research
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Transparent Rate Mode Bilateral Teleoperation Control

Farid Mobasser

Invenium Technologies Corporation, Toronto, Ontario M2N 6K1, Canada farid.mobasser{at}invenium.ca

Keyvan Hashtrudi-Zaad

Department of Electrical & Computer Engineering, Queen's University, Kingston, Ontario K7L 3N6, Canada khz{at}post.queensu.ca

Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for an exchange of derivative and integral of measured positions and forces which make transparent rate mode controllers prone to noise and abrupt contact force changes. Moreover, the performance of controllers declines in the presence of communication delays. This paper proposes two control architectures based on the use of local force feedback (LFF) and environment impedance reflection (EIR). The LFF controllers eliminate a force channel while preserving transparency under ideal conditions. In the EIR controller, the identified impedance of the environment is employed in the master controller to predict the slave position and contact force derivatives. The stability robustness and performance of these controllers are evaluated and compared to those of a benchmark controller under different operational conditions, such as noise and delay, using analytical methods and experimental results.

Key Words: bilateral teleoperation control • environment identification • haptic simulation • impedance reflection • rate control • stability robustness • time delay • transparency

The International Journal of Robotics Research, Vol. 27, No. 1, 57-72 (2008)
DOI: 10.1177/0278364907083397
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