HapticV1, PascalFrancis, Corpus, bibRecord, 000929

Discrete-time bilateral teleoperation : modelling and stability analysis

Identifieur interne : 000929 ( PascalFrancis/Corpus ); précédent : 000928; suivant : 000930

Discrete-time bilateral teleoperation : modelling and stability analysis

Auteurs : M. Tavakoli ; A. Azimmejad ; R. V. Patel ; M. Moallem

Source :

IET control theory & applications : (Print) [ 1751-8644 ] ; 2008.

RBID : Pascal:08-0346973

Descripteurs français

Pascal (Inist)
- Temps discret, Téléopération, Commande numérique, Passivité, Domaine stabilité, Echantillonnage, Robotique, Relation maître esclave, Temps continu, Interface utilisateur, Bilatéral, Transparence, Limite stabilité, Modélisation, Borne inférieure, Borne supérieure, Taux échantillonnage, Fonction transfert.

English descriptors

KwdEn :
- Bilateral, Continuous time, Digital control, Discrete time, Lower bound, Master slave relationship, Modeling, Passivity, Remote operation, Robotics, Sampling, Sampling rate, Stability boundary, Stability region, Transfer function, Transparency, Upper bound, User interface.

Abstract

Discretisation of a stabilising continuous-time bilateral teleoperation controller for digital implementation may not necessarily lead to stable teleoperation. While previous research has focused on the question of passivity or stability of haptic interaction with a discretely simulated virtual wall, here the stability of master-slave teleoperation under discrete-time bilateral control is addressed. Stability regions are determined in the form of conditions involving the sampling period, control gains including the damping introduced by the controller and environment stiffness. Among the obtained stability conditions are lower and upper bounds on the controller damping in addition to upper bounds on the sampling period and the environment stiffness, implying that as the sampling period is increased, the maximum admissible stiffness of the environment with which a slave robot can stably interact is reduced. An outcome of the paper is a set of design guidelines in terms of selection of various control parameters and the sampling rate for stable teleoperation under discrete-time control. Because of the sampling period-environment stiffness tradeoff and the stability-transparency tradeoff, the obtained stability boundaries are of particular importance for hard-contact teleoperation or when the teleoperation system has near-ideal or ideal transparency. The results of the stability analysis are confirmed by a simulation study in which the bilateral controller is realised by z-domain transfer functions while the master, the slave and the environment are simulated in the s-domain.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A11	`02`	`1`		`@1 AZIMMEJAD (A.)`
A11	`03`	`1`		`@1 PATEL (R. V.)`
A11	`04`	`1`		`@1 MOALLEM (M.)`
A14	`01`			`@1 School of Engineering and Applied Sciences, Harvard University, 60 Oxford Street @2 Cambridge, MA 02138 @3 USA @Z 1 aut.`
A14	`02`			`@1 Department of Electrical and Computer Engineering, University of Western Ontario @2 London, ON, N6A 5B9 @3 CAN @Z 2 aut. @Z 3 aut.`
A14	`03`			`@1 Canadian Surgical Technologies and Advanced Robotics (CSTAR), 339 Windermere Road @2 London, ON, N6A SA5 @3 CAN @Z 2 aut. @Z 3 aut.`
A14	`04`			`@1 School of Engineering Science, Simon Fraser University @2 Burnaby, BC, V5A 1S6 @3 CAN @Z 4 aut.`
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A21				`@1 2008`
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A44				`@0 0000 @1 © 2008 INIST-CNRS. All rights reserved.`
A45				`@0 29 ref.`
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C02	`01`	`X`		`@0 001D02D11`
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C03	`01`	`X`	`ENG`	`@0 Discrete time @5 06`
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C03	`02`	`X`	`FRE`	`@0 Téléopération @5 07`
C03	`02`	`X`	`ENG`	`@0 Remote operation @5 07`
C03	`02`	`X`	`SPA`	`@0 Teleacción @5 07`
C03	`03`	`X`	`FRE`	`@0 Commande numérique @5 08`
C03	`03`	`X`	`ENG`	`@0 Digital control @5 08`
C03	`03`	`X`	`SPA`	`@0 Mando numérico @5 08`
C03	`04`	`X`	`FRE`	`@0 Passivité @5 09`
C03	`04`	`X`	`ENG`	`@0 Passivity @5 09`
C03	`04`	`X`	`SPA`	`@0 Pasividad @5 09`
C03	`05`	`X`	`FRE`	`@0 Domaine stabilité @5 10`
C03	`05`	`X`	`ENG`	`@0 Stability region @5 10`
C03	`05`	`X`	`SPA`	`@0 Dominio estabilidad @5 10`
C03	`06`	`X`	`FRE`	`@0 Echantillonnage @5 11`
C03	`06`	`X`	`ENG`	`@0 Sampling @5 11`
C03	`06`	`X`	`SPA`	`@0 Muestreo @5 11`
C03	`07`	`X`	`FRE`	`@0 Robotique @5 12`
C03	`07`	`X`	`ENG`	`@0 Robotics @5 12`
C03	`07`	`X`	`SPA`	`@0 Robótica @5 12`
C03	`08`	`X`	`FRE`	`@0 Relation maître esclave @5 18`
C03	`08`	`X`	`ENG`	`@0 Master slave relationship @5 18`
C03	`08`	`X`	`SPA`	`@0 Relación maestro esclavo @5 18`
C03	`09`	`X`	`FRE`	`@0 Temps continu @5 19`
C03	`09`	`X`	`ENG`	`@0 Continuous time @5 19`
C03	`09`	`X`	`SPA`	`@0 Tiempo continuo @5 19`
C03	`10`	`X`	`FRE`	`@0 Interface utilisateur @5 20`
C03	`10`	`X`	`ENG`	`@0 User interface @5 20`
C03	`10`	`X`	`SPA`	`@0 Interfase usuario @5 20`
C03	`11`	`X`	`FRE`	`@0 Bilatéral @5 21`
C03	`11`	`X`	`ENG`	`@0 Bilateral @5 21`
C03	`11`	`X`	`SPA`	`@0 Bilateral @5 21`
C03	`12`	`X`	`FRE`	`@0 Transparence @5 22`
C03	`12`	`X`	`ENG`	`@0 Transparency @5 22`
C03	`12`	`X`	`SPA`	`@0 Transparencia @5 22`
C03	`13`	`X`	`FRE`	`@0 Limite stabilité @5 23`
C03	`13`	`X`	`ENG`	`@0 Stability boundary @5 23`
C03	`13`	`X`	`SPA`	`@0 Límite estabilidad @5 23`
C03	`14`	`X`	`FRE`	`@0 Modélisation @5 28`
C03	`14`	`X`	`ENG`	`@0 Modeling @5 28`
C03	`14`	`X`	`SPA`	`@0 Modelización @5 28`
C03	`15`	`X`	`FRE`	`@0 Borne inférieure @5 29`
C03	`15`	`X`	`ENG`	`@0 Lower bound @5 29`
C03	`15`	`X`	`SPA`	`@0 Cota inferior @5 29`
C03	`16`	`X`	`FRE`	`@0 Borne supérieure @5 30`
C03	`16`	`X`	`ENG`	`@0 Upper bound @5 30`
C03	`16`	`X`	`SPA`	`@0 Cota superior @5 30`
C03	`17`	`X`	`FRE`	`@0 Taux échantillonnage @5 31`
C03	`17`	`X`	`ENG`	`@0 Sampling rate @5 31`
C03	`17`	`X`	`SPA`	`@0 Razón muestreo @5 31`
C03	`18`	`X`	`FRE`	`@0 Fonction transfert @5 32`
C03	`18`	`X`	`ENG`	`@0 Transfer function @5 32`
C03	`18`	`X`	`SPA`	`@0 Función traspaso @5 32`
N21				`@1 217`
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Format Inist (serveur)

NO :	PASCAL 08-0346973 INIST
ET :	Discrete-time bilateral teleoperation : modelling and stability analysis
AU :	TAVAKOLI (M.); AZIMMEJAD (A.); PATEL (R. V.); MOALLEM (M.)
AF :	School of Engineering and Applied Sciences, Harvard University, 60 Oxford Street/Cambridge, MA 02138/Etats-Unis (1 aut.); Department of Electrical and Computer Engineering, University of Western Ontario/London, ON, N6A 5B9/Canada (2 aut., 3 aut.); Canadian Surgical Technologies and Advanced Robotics (CSTAR), 339 Windermere Road/London, ON, N6A SA5/Canada (2 aut., 3 aut.); School of Engineering Science, Simon Fraser University/Burnaby, BC, V5A 1S6/Canada (4 aut.)
DT :	Publication en série; Niveau analytique
SO :	IET control theory & applications : (Print); ISSN 1751-8644; Royaume-Uni; Da. 2008; Vol. 2; No. 6; Pp. 496-512; Bibl. 29 ref.
LA :	Anglais
EA :	Discretisation of a stabilising continuous-time bilateral teleoperation controller for digital implementation may not necessarily lead to stable teleoperation. While previous research has focused on the question of passivity or stability of haptic interaction with a discretely simulated virtual wall, here the stability of master-slave teleoperation under discrete-time bilateral control is addressed. Stability regions are determined in the form of conditions involving the sampling period, control gains including the damping introduced by the controller and environment stiffness. Among the obtained stability conditions are lower and upper bounds on the controller damping in addition to upper bounds on the sampling period and the environment stiffness, implying that as the sampling period is increased, the maximum admissible stiffness of the environment with which a slave robot can stably interact is reduced. An outcome of the paper is a set of design guidelines in terms of selection of various control parameters and the sampling rate for stable teleoperation under discrete-time control. Because of the sampling period-environment stiffness tradeoff and the stability-transparency tradeoff, the obtained stability boundaries are of particular importance for hard-contact teleoperation or when the teleoperation system has near-ideal or ideal transparency. The results of the stability analysis are confirmed by a simulation study in which the bilateral controller is realised by z-domain transfer functions while the master, the slave and the environment are simulated in the s-domain.
CC :	001D02D11
FD :	Temps discret; Téléopération; Commande numérique; Passivité; Domaine stabilité; Echantillonnage; Robotique; Relation maître esclave; Temps continu; Interface utilisateur; Bilatéral; Transparence; Limite stabilité; Modélisation; Borne inférieure; Borne supérieure; Taux échantillonnage; Fonction transfert
ED :	Discrete time; Remote operation; Digital control; Passivity; Stability region; Sampling; Robotics; Master slave relationship; Continuous time; User interface; Bilateral; Transparency; Stability boundary; Modeling; Lower bound; Upper bound; Sampling rate; Transfer function
SD :	Tiempo discreto; Teleacción; Mando numérico; Pasividad; Dominio estabilidad; Muestreo; Robótica; Relación maestro esclavo; Tiempo continuo; Interfase usuario; Bilateral; Transparencia; Límite estabilidad; Modelización; Cota inferior; Cota superior; Razón muestreo; Función traspaso
LO :	INIST-7573D.354000196218390060
ID :	08-0346973

Links to Exploration step

Pascal:08-0346973

Le document en format XML

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<front><div type="abstract" xml:lang="en">Discretisation of a stabilising continuous-time bilateral teleoperation controller for digital implementation may not necessarily lead to stable teleoperation. While previous research has focused on the question of passivity or stability of haptic interaction with a discretely simulated virtual wall, here the stability of master-slave teleoperation under discrete-time bilateral control is addressed. Stability regions are determined in the form of conditions involving the sampling period, control gains including the damping introduced by the controller and environment stiffness. Among the obtained stability conditions are lower and upper bounds on the controller damping in addition to upper bounds on the sampling period and the environment stiffness, implying that as the sampling period is increased, the maximum admissible stiffness of the environment with which a slave robot can stably interact is reduced. An outcome of the paper is a set of design guidelines in terms of selection of various control parameters and the sampling rate for stable teleoperation under discrete-time control. Because of the sampling period-environment stiffness tradeoff and the stability-transparency tradeoff, the obtained stability boundaries are of particular importance for hard-contact teleoperation or when the teleoperation system has near-ideal or ideal transparency. The results of the stability analysis are confirmed by a simulation study in which the bilateral controller is realised by z-domain transfer functions while the master, the slave and the environment are simulated in the s-domain.</div>
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<s5>06</s5>
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<fC03 i1="01" i2="X" l="ENG"><s0>Discrete time</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Tiempo discreto</s0>
<s5>06</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Téléopération</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Remote operation</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Teleacción</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Commande numérique</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Digital control</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Mando numérico</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Passivité</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Passivity</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Pasividad</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Domaine stabilité</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Stability region</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Dominio estabilidad</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Echantillonnage</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Sampling</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Muestreo</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Robotique</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Robotics</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Robótica</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Relation maître esclave</s0>
<s5>18</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Master slave relationship</s0>
<s5>18</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Relación maestro esclavo</s0>
<s5>18</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Temps continu</s0>
<s5>19</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Continuous time</s0>
<s5>19</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Tiempo continuo</s0>
<s5>19</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>User interface</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>20</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Bilatéral</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Bilateral</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Bilateral</s0>
<s5>21</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Transparence</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Transparency</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Transparencia</s0>
<s5>22</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Limite stabilité</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Stability boundary</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Límite estabilidad</s0>
<s5>23</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>28</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Modeling</s0>
<s5>28</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Modelización</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Borne inférieure</s0>
<s5>29</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Lower bound</s0>
<s5>29</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Cota inferior</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Borne supérieure</s0>
<s5>30</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Upper bound</s0>
<s5>30</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Cota superior</s0>
<s5>30</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Taux échantillonnage</s0>
<s5>31</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Sampling rate</s0>
<s5>31</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Razón muestreo</s0>
<s5>31</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Fonction transfert</s0>
<s5>32</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Transfer function</s0>
<s5>32</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Función traspaso</s0>
<s5>32</s5>
</fC03>
<fN21><s1>217</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 08-0346973 INIST</NO>
<ET>Discrete-time bilateral teleoperation : modelling and stability analysis</ET>
<AU>TAVAKOLI (M.); AZIMMEJAD (A.); PATEL (R. V.); MOALLEM (M.)</AU>
<AF>School of Engineering and Applied Sciences, Harvard University, 60 Oxford Street/Cambridge, MA 02138/Etats-Unis (1 aut.); Department of Electrical and Computer Engineering, University of Western Ontario/London, ON, N6A 5B9/Canada (2 aut., 3 aut.); Canadian Surgical Technologies and Advanced Robotics (CSTAR), 339 Windermere Road/London, ON, N6A SA5/Canada (2 aut., 3 aut.); School of Engineering Science, Simon Fraser University/Burnaby, BC, V5A 1S6/Canada (4 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IET control theory & applications : (Print); ISSN 1751-8644; Royaume-Uni; Da. 2008; Vol. 2; No. 6; Pp. 496-512; Bibl. 29 ref.</SO>
<LA>Anglais</LA>
<EA>Discretisation of a stabilising continuous-time bilateral teleoperation controller for digital implementation may not necessarily lead to stable teleoperation. While previous research has focused on the question of passivity or stability of haptic interaction with a discretely simulated virtual wall, here the stability of master-slave teleoperation under discrete-time bilateral control is addressed. Stability regions are determined in the form of conditions involving the sampling period, control gains including the damping introduced by the controller and environment stiffness. Among the obtained stability conditions are lower and upper bounds on the controller damping in addition to upper bounds on the sampling period and the environment stiffness, implying that as the sampling period is increased, the maximum admissible stiffness of the environment with which a slave robot can stably interact is reduced. An outcome of the paper is a set of design guidelines in terms of selection of various control parameters and the sampling rate for stable teleoperation under discrete-time control. Because of the sampling period-environment stiffness tradeoff and the stability-transparency tradeoff, the obtained stability boundaries are of particular importance for hard-contact teleoperation or when the teleoperation system has near-ideal or ideal transparency. The results of the stability analysis are confirmed by a simulation study in which the bilateral controller is realised by z-domain transfer functions while the master, the slave and the environment are simulated in the s-domain.</EA>
<CC>001D02D11</CC>
<FD>Temps discret; Téléopération; Commande numérique; Passivité; Domaine stabilité; Echantillonnage; Robotique; Relation maître esclave; Temps continu; Interface utilisateur; Bilatéral; Transparence; Limite stabilité; Modélisation; Borne inférieure; Borne supérieure; Taux échantillonnage; Fonction transfert</FD>
<ED>Discrete time; Remote operation; Digital control; Passivity; Stability region; Sampling; Robotics; Master slave relationship; Continuous time; User interface; Bilateral; Transparency; Stability boundary; Modeling; Lower bound; Upper bound; Sampling rate; Transfer function</ED>
<SD>Tiempo discreto; Teleacción; Mando numérico; Pasividad; Dominio estabilidad; Muestreo; Robótica; Relación maestro esclavo; Tiempo continuo; Interfase usuario; Bilateral; Transparencia; Límite estabilidad; Modelización; Cota inferior; Cota superior; Razón muestreo; Función traspaso</SD>
<LO>INIST-7573D.354000196218390060</LO>
<ID>08-0346973</ID>
</server>
</inist>
</record>

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Discrete-time bilateral teleoperation : modelling and stability analysis

Discrete-time bilateral teleoperation : modelling and stability analysis

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