On Stability and Transparency of a Time-Discretized Time-Delayed Impedance-Controlled Force-Reflecting Teleoperation

摘要

In a master-slave telerobotic system controllers are inevitably implemented digitally. In addition to discretization as an outcome of digital implementation, the presence of delays in communication channels compromises stability as well as transparency. Therefore the designer has to take into account both of these factors in designing a stable teleoperator with a great degree of transparency. In this paper two impedance controllers are designed for master and slave with the objectives of delayed force and position tracking respectively. Linear stability analysis in z-domain has been applied in order to examine the effect of discretization. This also allows inspecting the influence of delay in a simple framework. Finally a plain set of rules are produced to tune the parameters so as to warrant stability with the best achievable transparency.