Title: Bilateral teleoperation: quantifying the requirements for and restrictions of ideal transparency
Authors: Willaert, Bert ×
Reynaerts, Dominiek
Van Brussel, Hendrik
Vander Poorten, Emmanuel #
Issue Date: Jan-2014
Publisher: Institute of Electrical and Electronics Engineers
Series Title: IEEE Transactions on Control Systems Technology vol:22 issue:1 pages:387-395
Abstract: The well-known trade-off between transparency and
stability challenges the realization of bilateral teleoperation
systems. Ideal conditions for the four-channel framework have
been presented, but the practical feasibility is hardly quantified.
This paper bridges the gap between existing detailed analysis
of basic two-channel controllers and the ideal conditions for the
four-channel framework.
Starting from the fundamental stability and transparency
limits of the Position-Force controller, two extensions of this
controller have been analyzed in detail, using existing metrics for
transparency and the absolute stability and bounded environment
passivity criterion. This analysis quantitatively describes the
effect of hardware properties, modelling errors and low-pass
filters and illustrates as such the restrictions on the realization
of ideal transparency. The experimental results presented in this
paper, demonstrate the restricted stiffness transparency of the
Position-Force controller, as well as how
ISSN: 1063-6536
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
× corresponding author
# (joint) last author

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