Four-channel force-reflecting teleoperation with impedance control

摘要

This paper focuses on a bilateral control of teleoperation system with four-channel force-reflection (FR) algorithm and communication time delays. In this method, we propose a new system input of impedance control that relates to FR scheme of teleoperation. The goal of this paper is to improve the tracking performance and transparency, the control-based force-reflecting teleoperation uses a force feed forward channel in comparison with a conventional method to transfer the position, velocity and human force information from the master side to the slave side. Hence, we receive a four-channel architecture of the teleoperation system. Using variable damping values, the contact stability is achieved at the time when the slave robot contacts with the environment. To analyse stability of the system, one method based on Lyapunov technique is concerned, the input-to-state stability (ISS) small gain approach is used to show the overall force-reflecting teleoperation to be input-to-state stable. Several experimental results show the effectiveness of our proposed algorithm.