A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design

DOI Web Site 被引用文献3件
  • Liya Ni
    Handshake Interactive Technologies Inc., 40 Weber Street East, Lobby Suite 50, Kitchener, Ontario, Canada N2H 6R3
  • David W. L. Wang
    Dept. of Electrical & Computer Engineering, University of Waterloo, 200 University Avenue West, Waterloo, Ontario, Canada N2L 3G1

説明

<jats:p> To lower the cost of a force-reflecting teleoperation system, position errors instead of direct measurements from force/torque sensors can be used for force feedback. An investigation on transparency shows that position-error-based teleoperation provides poor transparency when using constant controller gains, and this can be overcome by gain switching. The scenario studied in this paper is a position-errorbased bilateral teleoperation system when the slave robot is either in free motion or colliding with a stationary stiff environment. A contact stability analysis is presented for teleoperation systems with constant controller gains and then extended to a gain-switching teleoperation system. Issues on the design of a gain-switching control scheme are discussed. The effectiveness of the proposed gain-switching control scheme is evaluated experimentally. </jats:p>

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