Paper Info
Title
Stability of Quantized and Delayed Bilateral Teleoperators
Abstract
In this paper we address the issue of quantization in delayed bilateral teleoperators via input-to-state stability concepts and the small-gain theorem. An ultimate bound is established on the tracking error between the master and slave positions and the final velocities, based on the available resolu- tion for quantization and magnitudes of external forces acting on both robots. A characterization of possible environments that would provide such bounded external forces is given. I. INTRODUCTION The prefix tele from Greek origin means at a distance and teleoperation naturally indicates operating at a distance. Thus teleoperation extends the human capability to manipulating objects remotely by providing the operator with similar conditions as those at the remote location. This is achieved via installing a similar manipulator or joystick, called the master, at the human's end to the slave which is performing the actual task (see Fig. 1). In a general setting, the human imposes a force upon the master manipulator which in turn results in a displacement that is transmitted to the slave which mimics that movement. If the slave possess force sensors, then it can transmit or reflect back to the master reaction forces, which enters into the input torque of the master, and the teleoperator is said to be controlled bilaterally (cf. (1) for a recent overview).
Year
DOI
Venue
2006
10.1109/CDC.2006.377140
conference on decision and control
Keywords
DocType
ISSN
delays,stability,telerobotics,delayed bilateral teleoperators,error tracking,input-to-state stability,quantized bilateral teleoperators,robot,small-gain theorem
Conference
0743-1546
ISBN
Citations 
PageRank 
1-4244-0171-2
2
0.51
References 
Authors
11
2
Name
Order
Citations
PageRank
Peter F. Hokayem1111.42
Spong, M.W.2706154.32