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Two-channel transparency-optimized control architectures in bilateral teleoperation with time delay
- Two-channel transparency-optimized control architectures in bilateral teleoperation with time delay
- Kim, Jong Hyun; Chang, Pyung Hun; Park, Hyung-Soon
- DGIST Authors
- Kim, Jong Hyun; Chang, Pyung Hun
- Issue Date
- IEEE Transactions on Control Systems Technology, 21(1), 40-51
- Article Type
- Bilateral Control; Control Architecture; Optimization; Remote Control; Switched Delay System; Switched Delay Systems; Tele-Operation; Tele-Robotics; Telerobotics; Time Delay; Transparency; Transparency-Optimized Control Architecture (TOCA); Two-Channel; Two-Channel Architecture
- 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.
- Institute of Electrical and Electronics Engineers
- Related Researcher
REL(Rehabilitation Engineering Laboratory)
Rehabilitation engineering; Robotics; Nonlinear control
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