A Novel Control Architecture for nonlinear teleoperation system under non-passive environment and Operator

To design teleoperation systems, the most commonly used method is passivity technique. This technique is accompanied with passive assumption of environment and operator. However, it is a tenuous presumption. Since, environment in a number of applications such as cardiac surgery, Nano manipulation, cooperative robots and underwater activities generates energy and consequently, is not passive. Moreover, the human operator acts as an active source during manipulation of a robot. In this paper, a novel control scheme for nonlinear bilateral teleoperation systems is addressed. The proposed method relaxes restrictive assumption of passive environment and operator. The overall stability of the closed loop system is proved using Passivity concept and Lyapunov-Krasovskii technique. Simulations demonstrate performance of the resulting bilateral controller.

کلیدواژه ها:

Bilateral Teleoperation ، Active environment ، Force Reflection ، Stability ، Passivity