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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
Abstract
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/ | ||||||||||||||||||||||||||||
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| Document Type: | Article | ||||||||||||||||||||||||||||
| Title: | Stabilization of User-Defined Feedback Controllers in Teleoperation With Passive Coupling Reference | ||||||||||||||||||||||||||||
| Authors: |
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| Date: | 24 March 2021 | ||||||||||||||||||||||||||||
| Journal or Publication Title: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||||||
| 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 | ||||||||||||||||||||||||||||
| ISSN: | 2377-3766 | ||||||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||||||
| 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: | 11 Sep 2023 13:24 |
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