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Author Jazayeri, A. ♦ Tavakoli, M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2010
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Stability analysis ♦ Teleoperators ♦ Damping ♦ Control systems ♦ Frequency modulation ♦ Haptic interfaces
Abstract In a haptic teleoperation system, closed-loop stability is influenced by the human operator and the environment dynamics, which are typically uncertain, time-varying or unknown. Therefore, in lieu of stability, the passivity of a teleoperation system as a sufficient condition for stability is investigated in the literature. The rationale for this is that, if the two-port network representing the teleoperator (comprising the master, the controller and communication channel, and the slave) is passive and is terminated to any passive but otherwise arbitrary operator and environment, the overall teleoperation system will also be passive. Instead of ensuring the passivity of the teleoperator in isolation, which is an overly-conservative requirement, in this paper we study the stability of the overall teleoperation system having assumed the passivity of the operator and the environment while permitting the teleoperator to be passive or nonpassive - such relaxation of the passivity condition on the teleoperator is expected to reduce design conservatism and allow for higher teleoperation performance. The broader aim of this study is to find the conditions for the stability of a teleoperation system when its controllers are implemented in discrete-time - it is known that discretization causes energy leaks and thus does not necessarily preserve passivity or stability. The absolute stability conditions for the sampled-data teleoperator are obtained using the Small Gain Theorem. The resulting condition for stability of the sampled-data teleoperation system imposes bounds on the controller parameters, the sampling period, and the master and slave robots damping terms.
Description Author affiliation: Department of Electrical and Computer Engineering, University of Alberta, Edmonton, T6G 2V4, Canada (Jazayeri, A.; Tavakoli, M.)
ISBN 9781424477456
ISSN 07431546
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2010-12-15
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781424477463
Size (in Bytes) 411.95 kB
Page Count 6
Starting Page 3608
Ending Page 3613

Source: IEEE Xplore Digital Library