<abstract xmlns="http://www.w3.org/1999/xhtml"><p>Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.</p></abstract>

Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.

Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback

Department of Automatic Control CINVESTAV-IPN

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote...

Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback

Published Online: Dec 31, 2019

Page range: 681 - 692

Received: Nov 30, 2018

Accepted: Jul 28, 2019

DOI: https://doi.org/10.2478/amcs-2019-0050

Keywords
teleoperation, force control, stability, transparency

© 2019 Edgar Estrada et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback

Published Online: Dec 31, 2019

Page range: 681 - 692

Received: Nov 30, 2018

Accepted: Jul 28, 2019

DOI: https://doi.org/10.2478/amcs-2019-0050

Keywordsteleoperation, force control, stability, transparency

© 2019 Edgar Estrada et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
teleoperation, force control, stability, transparency