Enhancing the Force Transparency of the Energy-Reflection Based Time Domain Passivity Approach

Kurzfassung

The Time Domain Passivity Approach (TDPA) was developed and applied to tackle a variety of control challenges such as non-collocated force sensing, authority scaling or delayed coupling in robotic applications. Specifically for delay, recently, the energy-reflection based TDPA (TDPA-ER) was proposed to improve position tracking and force-feedback quality. In contrast to the conventional TDPA, the TDPA-ER intrinsically prevents position drift, thus, substantially increasing the coupling rigidity. Here, we extend the TDPA-ER, to further enhance the force transparency perceived by the operator in teleoperation scenarios. The extension is based on two independent control strategies which, among others, reorganize the energy distribution of TDPA-ER and ensure more continuous force profiles through the Deflection-Domain Passivity Approach. Experiments confirm the improvement of force-feedback quality and force continuity with regards to TDPA-ER. Furthermore, it is shown that interactions with dynamic objects and active environments can be handled robustly with the proposed teleoperation control strategies.