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Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation

Panzirsch, Michael and Balachandran, Ribin (2019) Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation. In: IFAC Proceedings Volumes (IFAC-PapersOnline). IFAC Workshop on Time Delay Systems, 9.-11. September 2019, Sinaia, Romania.

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Abstract

Scaling of motion and forces has always been of high relevance in teleoperation setups since it allows the adaptation of workspaces of master and slave devices or to increase precision. Teleoperation setups are often affected by a delay in the communication channel. Most state of the art control approaches that guarantee stability despite delay are based on the passivity criterion which is highly restrictive to standard scaling methods. This paper proposes different time domain control concepts that regulate the motion or force scaling based on the energy flow in delayed teleoperation systems. The approach focuses on setups with motion down-scaling and is applicable to variable motion and impedance scaling. The scaling control is integrated in a state of the art time delay control concept and its performance is analyzed in experiments.

Item URL in elib:https://elib.dlr.de/131956/
Document Type:Conference or Workshop Item (Speech)
Title:Time Domain Control for Passive Variable Motion and Force Scaling in Delayed Teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Date:9 September 2019
Journal or Publication Title:IFAC Proceedings Volumes (IFAC-PapersOnline)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Scaling, Time Delay, Teleoperation, Time Domain Control
Event Title:IFAC Workshop on Time Delay Systems
Event Location:Sinaia, Romania
Event Type:international Conference
Event Dates:9.-11. September 2019
Organizer:IFAC
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: Panzirsch, Michael
Deposited On:13 Dec 2019 10:05
Last Modified:13 Dec 2019 10:05

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