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Performance Comparison of Wave Variable Transformation and Time Domain Passivity Approaches for Time-Delayed Teleoperation: Preliminary Results

Balachandran, Ribin and Artigas, Jordi and Mehmood, Usman and Ryu, J.H. (2016) Performance Comparison of Wave Variable Transformation and Time Domain Passivity Approaches for Time-Delayed Teleoperation: Preliminary Results. In: IEEE International Conference on Intelligent Robots and Systems. Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, Daejeon, Korea.

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Abstract

This paper presents initial results of a set of experiments to compare time-delayed teleoperation performance of selected architectures based on two popular passivity based methods, namely, Wave Variables Transformation (WVT) and Time Domain Passivity Approach (TDPA). Five different architectures widely used and available in literature are selected: 2-channel and 3-channel for both WV and TDPA, and 4-channel based on TDPA. An empirical approach for measuring transparency is proposed, which presents three main qualities: 1) Controller independency 2) Frequency dependency of performance and 3) Removal of the human operator out of the loop. In order to achieve this, the human operator is replaced by a linear actuator equipped with a force sensor. Deterministic interactions between the simulated operator and the rest of the system can thus be easily implemented and registered. Therefore, this approach allows to isolate pure effects of any control method and perform a proper analysis in terms of selected attributes for a desired metrics. In this article, these are chosen to be effective impedance and position tracking error, both in the frequency domain. In addition to the quantitative results, a qualitative analysis is presented which underlines practical implications of each architecture and control method. The comparison sample presented contains five different delays, varying from 0 to 200 milliseconds, five different environmental impedances and 5 bilateral control architectures along with an analysis of the results obtained.

Item URL in elib:https://elib.dlr.de/109653/
Document Type:Conference or Workshop Item (Speech)
Title:Performance Comparison of Wave Variable Transformation and Time Domain Passivity Approaches for Time-Delayed Teleoperation: Preliminary Results
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Artigas, Jordijordi.artigas (at) dlr.deUNSPECIFIED
Mehmood, UsmanUNSPECIFIEDUNSPECIFIED
Ryu, J.H.UNSPECIFIEDUNSPECIFIED
Date:20 December 2016
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Time delay, Teleoperation, Performance comparison, Time domain passivity approach, Wave variables
Event Title:Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on
Event Location:Daejeon, Korea
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Radhakrishna Balachandran, Ribin
Deposited On:20 Dec 2016 11:07
Last Modified:12 Dec 2017 21:46

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