Stability of Model-Mediated Teleoperation: Discussion and Experiments
2012; Springer Science+Business Media; Linguagem: Inglês
10.1007/978-3-642-31401-8_55
ISSN1611-3349
AutoresBert Willaert, Hendrik Van Brussel, Günter Niemeyer,
Tópico(s)Soft Robotics and Applications
ResumoThe design of a bilateral teleoperation system remains challenging in cases with high-impedance slave robots or substantial communication delays. Especially for these scenarios, model-mediated teleoperation offers a promising new approach. In this paper, we present a first stability discussion. We examine the continuous behavior using general control principles and discuss how the model structure and its predictive power affects system lag and stability. We also recognize the unavoidability of discrete model jumps and discuss measures to isolate events and prevent limit cycles. The discussions are illustrated in a single degree of freedom case and supported by single degree of freedom experiments.
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