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Authors: V. P. García-Alvizo 1 ; V. Parra-Vega 1 ; E. Olguín-Díaz 1 and L. G. García-Valdovinos 2

Affiliations: 1 Robotics and Advance Manufacturing Group, CINVESTAV, Mexico ; 2 Centro de Ingeniería y Desarrollo Industrial, CIDESI, Mexico

ISBN: 978-989-674-000-9

Keyword(s): Teleoperation, Haptic.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems ; Robotics and Automation ; Telerobotics and Teleoperation

Abstract: Bilateral teleoperation system are prone to instability coming out from the time-delay introduced by the indeterministic communication channel. This problem has been subject of intensive research under the assumption of non-equal master-slave teleoperators, however, what are the implications of dynamically similar teleoperation system (DSTS), is there simpler stability relationship and trade offs among several involved system and feedback parameters? When we consider a linear DSTS system, there arises the question whether there is analytically any advantage, as it was observed heuristically in several experiments (Cho and Park, 2002). In this paper, the stability analysis of such system is reported under an impedance control scheme (Garcia-Valdovinos, 2006) when the delay is considered constant but unknown. by applying the Llewellyn’s and Raisbeck’s criteria, it is found and explicit and straightforward relationships between the dynamic and kinematic scaling and the stability of the s ystem. This result explicitly suggests clearly guidelines among key factors, such as time delay, desired velocities and feedback gains in terms of the scaling parameters, arises a clear advantage when dealing with dynamically similar systems. This explains why the transparency of the teleoperation system is improved by augmenting/reducing the dynamic/kinematic scaling factor, for given desired frequency, time delay and feedback gains. Simulations and preliminary experimental results illustrate different cases subject to a number of conditions, which can be very useful to design a physical teleoperation system. A preliminary mechatronics design is presented. (More)

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Paper citation in several formats:
García-Alvizo V.; Parra-Vega V.; Olguín-Díaz E.; García-Valdovinos L. and (2009). LIMITS OF HUMAN INTERACTION IN DYNAMICALLY SIMILAR TELEOPERATION SYSTEMS - Under Unknown Constant Time Delay with Impedance Control.In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 102-109. DOI: 10.5220/0002216201020109

@conference{icinco09,
author={V. P. García{-}Alvizo and V. Parra{-}Vega and E. Olguín{-}Díaz and L. G. García{-}Valdovinos},
title={LIMITS OF HUMAN INTERACTION IN DYNAMICALLY SIMILAR TELEOPERATION SYSTEMS - Under Unknown Constant Time Delay with Impedance Control},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={102-109},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002216201020109},
isbn={978-989-674-000-9},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - LIMITS OF HUMAN INTERACTION IN DYNAMICALLY SIMILAR TELEOPERATION SYSTEMS - Under Unknown Constant Time Delay with Impedance Control
SN - 978-989-674-000-9
AU - García-Alvizo, V.
AU - Parra-Vega, V.
AU - Olguín-Díaz, E.
AU - García-Valdovinos, L.
PY - 2009
SP - 102
EP - 109
DO - 10.5220/0002216201020109

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