International Journal of applied mathematics and computer science

online read us now

Paper details

Number 4 - December 2019
Volume 29 - 2019

Stability and transparency of delayed bilateral teleoperation with haptic feedback

Edgar Estrada, Wen Yu, Xiaoou Li

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.

teleoperation, force control, stability, transparency