Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Identification of Feasible Scaled Teleoperation Region Based on Scaling Factors and Sampling Rates

  • Hwang, Dal-Yeon (Department of Mechanical Design Engineering, Korea Polytechnic University) ;
  • Blake Hannaford (Department of Electrical Engineering, Biorobotics Laboratory, University of Washington) ;
  • Park, Hyoukryeol (Department of Mechanical Engineering, SungKyunKwan University)
  • Published : 2001.01.01
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Abstract

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 Llewellyns 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.

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References

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