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Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference

Balachandran, Ribin and Panzirsch, Michael and de Stefano, Marco and Singh, Harsimran and Ott, Christian and Albu-Schäffer, Alin Olimpiu (2021) Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference. IEEE Robotics and Automation Letters, pp. 3513-3520. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3064452. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9372793


Ensuring stability in time-delayed teleoperation can be difficult in some cases where the feedback forces need to be modified as defined by the user, to increase transparency. In the present letter, we propose an approach to ensure stability of any feedback controller selected by the user by considering a basic passive framework as reference. Stability properties of the proposed method are discussed and we apply it on different feedback controllers as examples. We present the results of hardware experiments, with performance comparison of three different control architectures stabilized with the proposed approach, with different delays and environment stiffnesses.

Item URL in elib:https://elib.dlr.de/147109/
Document Type:Article
Title:Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
de Stefano, MarcoMarco.deStefano (at) dlr.deUNSPECIFIED
Singh, Harsimranharsimran.singh (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Date:24 March 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/LRA.2021.3064452
Page Range:pp. 3513-3520
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:telerobotics, teleoperation, haptics, force control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
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:09 Dec 2021 14:42
Last Modified:09 Dec 2021 16:43

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