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A transparent bilateral control scheme for a local teleoperation system using proportional-delayed controllers

Abstract : This paper addresses the closed-loop stability analysis problem of a bilateral local teleoperation system in the presence of delays, with the purpose of maintaining a kinematic correspondence between a master and a slave device. The stability analysis is proposed as a general analysis in the controller's parameter-space under the assumption of two fixed delays, considering one due to the signal and communication processing and one defined as a design delay for the controller. Furthermore, a method for measuring the fragility of the controllers is also proposed. Finally, experimental results obtained from an experimental platform consisting of two Phantom Omni haptic devices and the Matlab-Simulink toolkit Phansim illustrate the performance of the proposed approach and the video of the experiments can be downloaded from the authors' dedicated website 1 .
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https://hal-centralesupelec.archives-ouvertes.fr/hal-02274353
Contributor : Delphine Le Piolet <>
Submitted on : Wednesday, March 17, 2021 - 11:30:37 AM
Last modification on : Saturday, May 1, 2021 - 3:46:44 AM
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José-Enrique Hernández-Díez, Silviu-Iulian Niculescu, César Fernando Méndez Barrios, Emilio-Jorge González-Galván, Raoul Hernandez-Molinar. A transparent bilateral control scheme for a local teleoperation system using proportional-delayed controllers. 12th IEEE International Conference on Control and Automation, ICCA 2016, Jun 2016, Katmandou, Nepal. pp.473-478, ⟨10.1109/ICCA.2016.7505322⟩. ⟨hal-02274353⟩

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