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Two-channel transparency-optimized control architectures in bilateral teleoperation with time delay

Title
Two-channel transparency-optimized control architectures in bilateral teleoperation with time delay
Authors
Kim, JonghyunChang, Pyung HunPark, Hyung-Soon
Issue Date
2013
Citation
IEEE Transactions on Control Systems Technology, 21(1), 40-51
Type
Article
Article Type
Article
Keywords
Bilateral ControlControl ArchitectureOptimizationRemote ControlSwitched Delay SystemSwitched Delay SystemsTele-OperationTele-RoboticsTeleroboticsTime DelayTransparencyTransparency-Optimized Control Architecture (TOCA)Two-ChannelTwo-Channel Architecture
ISSN
1063-6536
Abstract
This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs. ? 2012 IEEE.
URI
http://hdl.handle.net/20.500.11750/5332
DOI
10.1109/TCST.2011.2172945
Publisher
Institute of Electrical and Electronics Engineers
Files:
There are no files associated with this item.
Collection:
ETC1. Journal Articles


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