A Review on Haptic Bilateral Teleoperation Systems

SUMMARYStability and transparency are two critical indices of bilateral teleoperation systems. The wave variable method is a conservative approach to robustly guarantee system passivity under arbitrary constant time delays. However, the wave-variable-based reflection is an intrinsic problem in this method because it can significantly degrade system transparency and disorient the operator's perception of the remote environment. In order to enhance both the transparency and the stability of bilateral teleoperation systems in the presence of large time delays, a new four-channel (4-CH) architecture is proposed which applies two modified wave-transformation controllers to reduce wave-based reflections. Transparency and stability of the proposed system are analyzed and the improvement in these when using this method is measured experimentally. Results clearly demonstrate that the proposed method can produce high transparency and stability even in the presence of large time delays.

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Revisiting Llewellyn's absolute stability criterion for bilateral teleoperation systems under non-passive operator or environment

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2012.6385949 ◽

2012 ◽

Cited By ~ 11

Author(s):

Ali Jazayeri ◽

Mahdi Tavakoli

Keyword(s):

Stability Criterion ◽

Absolute Stability ◽

Bilateral Teleoperation ◽

Teleoperation Systems

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A Simple Structure for Bilateral Transparent Teleoperation Systems With Time Delay

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2936854 ◽

2008 ◽

Vol 130 (4) ◽

Cited By ~ 21

Author(s):

Alireza Alfi ◽

Mohammad Farrokhi

Keyword(s):

Time Delay ◽

Closed Loop ◽

Simple Structure ◽

Finite Impulse Response ◽

Structure Design ◽

Loop System ◽

Bilateral Teleoperation ◽

Closed Loop System ◽

The Stability ◽

Teleoperation Systems

This paper presents a simple structure design for bilateral teleoperation systems with uncertainties in time delay in communication channel. The goal is to achieve complete transparency and robust stability for the closed-loop system. For transparency, two local controllers are designed for the bilateral teleoperation systems. One local controller is responsible for tracking the master commands, and the other one is in charge of force tracking as well as guaranteeing the stability of the closed-loop system in the presence of uncertainties in time delay. The stability analysis will be shown analytically for two cases: (I) the possibly stability and (II) the intrinsically stability. Moreover, in Case II, in order to generate the proper inputs for the master controller in the presence of uncertainties in time delay, an adaptive finite impulse response (FIR) filter is designed to estimate the time delay. The advantages of the proposed method are threefold: (1) stability of the closed-loop system is guaranteed under some mild conditions, (2) the whole system is transparent, and (3) design of the local controllers is simple. Simulation results show good performance of the proposed method.

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