On tracking performance in bilateral teleoperation

  • Authors:

  • N. Chopra;M. W. Spong;R. Ortega;N. E. Barabanov

  • Affiliations:

  • Coordinated Sci. Lab., Illinois Univ., Urbana, IL;-;-;-

  • Venue:
  • IEEE Transactions on Robotics
  • Year:
  • 2006

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Abstract

This paper addresses the problem of steady-state position and force tracking in bilateral teleoperation. Passivity-based control schemes for bilateral teleoperation provide robust stability against network delays in the feedback loop and velocity tracking, but do not guarantee steady-state position and force tracking in general. Position drift due to data loss and offset of initial conditions is a well-known problem in such systems. In this paper, we introduce a new architecture, which builds upon the traditional passivity-based configuration by using additional position control on both the master and slave robots, to solve the steady-state position and force-tracking problem. Lyapunov stability methods are used to establish the range of the position control gains on the master and slave sides. Experimental results using a single-degree-of-freedom master/slave system are presented, showing the performance of the resulting system