Identification of Feasible Scaled Teleoperation Region Based on Scaling Factors and Sampling Rates

The recent spread of scaled telemanipulation into microsurgery and the nano-world increasingly requires the identification of the possible operation region as a main system specification. A teleoperation system is a complex cascaded system since the human operator, master, slave, and communication a...

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Bibliographic Details
Published inJournal of mechanical science and technology Vol. 15; no. 1; pp. 1 - 9
Main Authors Hwang, Dal-Yeon, Hannaford, Blake, Choi, Hyoukryeol
Format Journal Article
LanguageEnglish
Published Seoul 대한기계학회 2001
Korean Society of Mechanical Engineers
Springer Nature B.V
Subjects
Applied sciences
Communication systems
Computer control
Computer science; control theory; systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Nanocomposites
Nanomaterials
Nanostructure
Robotics
Robots
Sampling
Stability
Studies
Systems stability
Time delay
Position control
Remote operation
Control synthesis
Unconditional stability
Frequency domain method
Scale factor
Digital control
Nanometer scale
Scaling law
Upper bound
Transfer function
Force control
Remote handling
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Summary:The recent spread of scaled telemanipulation into microsurgery and the nano-world increasingly requires the identification of the possible operation region as a main system specification. A teleoperation system is a complex cascaded system since the human operator, master, slave, and communication are involved bilaterally. Hence, a small time delay inside a master and slave system can be critical to the overall system stability even without communication time delay. In this paper we derive an upper bound of the scaling product of position and force by using Llewellyn's unconditional stability. This bound can be used for checking the validity of the designed bilateral controller. Time delay from the sample and hold of computer control and its effects on stability of scaled teleoperation are modeled and simulated based on the transfer function of the teleoperation system. The feasible operation region in terms of position and force scaling decreases sharply as the sampling rate decreases and time delays inside the master and slave increase.[PUBLICATION ABSTRACT]
Bibliography:ObjectType-Article-1
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ISSN:1226-4865
1738-494X
1976-3824
DOI:10.1007/BF03184792