Stability and Transparency Analysis of a Teleoperation Chain For Microscale Interaction.
Identifieur interne : 000C18 ( Main/Exploration ); précédent : 000C17; suivant : 000C19Stability and Transparency Analysis of a Teleoperation Chain For Microscale Interaction.
Auteurs : A. Mohand Ousaid [France] ; Aude Bolopion [France] ; Sinan Haliyo [France] ; Stéphane Régnier [France] ; V. Hayward [France]Source :
Abstract
Microscale teleoperation with haptic feedback requires scaling gains in the order of 104 107. These high gains impose a trade-off between stability and transparency. Due to the conservative approach used in most designs, transparency is reduced since damping is added to the system to guarantee stability. Starting from the fact that series, negative feedback and parallel connection of passive systems is a passive system, a new approach is addressed in this work. We propose here a complete teleoperation chain designed from the ground up for full transparency and stability, including a novel self-sensing probe and a high fidelity force-feedback haptic interface. By guaranteeing the passivity of each device and assuming that the human operator and the environment are passive systems, a homothetic direct coupling can be used without jeopardizing the stability and provides best transparency. The system is experimentally demonstrated in the complex case of a probe interacting with a water droplet under human control, while accurately transcribing the interaction back to operator.
Url:
DOI: 10.1109/ICRA.2014.6907735
Affiliations:
- France
- Franche-Comté
- Belfort, Besançon
- Université de Bourgogne Franche-Comté, Université de Franche-Comté, Université de technologie de Belfort-Montbéliard
Links toward previous steps (curation, corpus...)
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Le document en format XML
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These high gains impose a trade-off between stability and transparency. Due to the conservative approach used in most designs, transparency is reduced since damping is added to the system to guarantee stability. Starting from the fact that series, negative feedback and parallel connection of passive systems is a passive system, a new approach is addressed in this work. We propose here a complete teleoperation chain designed from the ground up for full transparency and stability, including a novel self-sensing probe and a high fidelity force-feedback haptic interface. By guaranteeing the passivity of each device and assuming that the human operator and the environment are passive systems, a homothetic direct coupling can be used without jeopardizing the stability and provides best transparency. The system is experimentally demonstrated in the complex case of a probe interacting with a water droplet under human control, while accurately transcribing the interaction back to operator.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Franche-Comté</li></region><settlement><li>Belfort</li><li>Besançon</li></settlement><orgName><li>Université de Bourgogne Franche-Comté</li><li>Université de Franche-Comté</li><li>Université de technologie de Belfort-Montbéliard</li></orgName></list><tree><country name="France"><noRegion><name sortKey="Ousaid, A Mohand" sort="Ousaid, A Mohand" uniqKey="Ousaid A" first="A. Mohand" last="Ousaid">A. Mohand Ousaid</name></noRegion><name sortKey="Bolopion, Aude" sort="Bolopion, Aude" uniqKey="Bolopion A" first="Aude" last="Bolopion">Aude Bolopion</name><name sortKey="Haliyo, Sinan" sort="Haliyo, Sinan" uniqKey="Haliyo S" first="Sinan" last="Haliyo">Sinan Haliyo</name><name sortKey="Hayward, V" sort="Hayward, V" uniqKey="Hayward V" first="V." last="Hayward">V. Hayward</name><name sortKey="Regnier, Stephane" sort="Regnier, Stephane" uniqKey="Regnier S" first="Stéphane" last="Régnier">Stéphane Régnier</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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