Muhammad Nabeel
Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces
Nabeel, Muhammad; Jafari, Aghil; Ryu, Jee Hwan
Abstract
© 2015 IEEE. This paper introduces a network formulation of bilateral teleoperation systems with admittance-type master interfaces to improve their stability range with Time Domain Passivity Approach (TDPA). Since traditional network representation of admittance-type teleoperation was not enough to detect the active energy, a new representation of admittance-type teleoperation system is formulated, using dependent effort/flow concepts. The proposed method, allows choosing small values of inertia in admittance model, which provides high transparency in free space interaction. Using the conventional mechanical-electrical analogy, the teleoperation system is modeled in an electrical network domain. Then, passivity of admittance-type teleoperation is analyzed and the TDPA is applied to passivate the system. Experimental results verified the effectiveness of the proposed approach.
Presentation Conference Type | Conference Paper (Published) |
---|---|
Conference Name | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
Acceptance Date | May 13, 2015 |
Online Publication Date | Aug 27, 2015 |
Publication Date | Aug 25, 2015 |
Deposit Date | Sep 4, 2017 |
Journal | 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) |
Print ISSN | 2159-6247 |
Peer Reviewed | Peer Reviewed |
Volume | 2015-August |
Pages | 1731-1736 |
DOI | https://doi.org/10.1109/AIM.2015.7222796 |
Keywords | force, stability criteria, admittance, circuit stability, damping, haptic interfaces |
Public URL | https://uwe-repository.worktribe.com/output/834542 |
Publisher URL | http://dx.doi.org/10.1109/AIM.2015.7222796 |
Additional Information | Title of Conference or Conference Proceedings : IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2015) |
Contract Date | Sep 4, 2017 |
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