Abstract
This paper presents a mechatronic analysis of a teleoperation system that provides haptic feedback. The analysis, based on the Bounded Environment Passivity method, describes the combined effect of the teleoperation controller and the master and slave hardware, including the effect of structural flexibilities, which have often been neglected in the domain of teleoperation. This results in rules of thumb for the design of the hardware and the tuning of the controller. As two of these rules of thumb pose a trade-off in hardware design, an unprecedented conceptual design optimization is described in a second part of this paper. The objective is to demonstrate the need for a mechatronic approach to the design of teleoperation systems in order to obtain maximal system performance.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Lawrence, D.A.: Stability and transparency in bilateral teleoperation. IEEE transactions on robotics and automation 9(5), 624–637 (1993)
Daniel, R.W., McAree, P.R.: Fundamental limits of performance for force reflecting teleoperation. The Int. J. of Robotics Research 17(8), 811–830 (1998)
Hashtrudi-Zaad, K., Salcudean, S.E.: Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators. The Int. J. of Robotics Research 20(6), 419–445 (2001)
Vander Poorten, E.B., Yokokohji, Y., Yoshikawa, T.: Stability analysis and robust control for fixed-scale teleoperation. Advanced Robotics 20, 681–706 (2006)
Willaert, B., Corteville, B., Reynaerts, D., Van Brussel, H., Vander Poorten, E.B.: Bounded environment passivity of the classical position-force teleoperation controller. In: Proceedings of the IEEE/RSJ Int. Conference on Intelligent Robots and Systems, St. Louis, MO, USA, October 2009, pp. 4622–4628 (2009)
Dwivedy, S.K., Eberhard, P.: Dynamic analysis of flexible manipulators, a literature review. Mechanism and Machine Theory 41, 749–777 (2006)
Christiansson, G.A.V., van der Helm, F.C.T.: The low-stiffness teleoperator slave - a trade-off between stability and performance. The Int. J.l of Robotics Research 26(3), 287–299 (2007)
Tavakoli, M., Howe, R.D.: Haptic effect of surgical teleoperator flexibility. The Int. J. of Robotics Research 28(10), 1289–1302 (2009)
Willaert, B., Corteville, B., Reynaerts, D., Van Brussel, H., Vander Poorten, E.B.: A mechatronic analysis of the classical position-force controller based on bounded environment passivity. Submitted to The Int. J. of Robotics Research
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Willaert, B., Corteville, B., Bruyninckx, H., Van Brussel, H., Vander Poorten, E.B. (2010). Mechatronic Design Optimization of a Teleoperation System Based on Bounded Environment Passivity. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6191. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14064-8_24
Download citation
DOI: https://doi.org/10.1007/978-3-642-14064-8_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14063-1
Online ISBN: 978-3-642-14064-8
eBook Packages: Computer ScienceComputer Science (R0)