Simple and Robust Attainment of Transparency Based on Two-Channel Control Architectures Using Time-Delay Control

Abstract This paper investigates simple and robust transparency-attainable control architectures for bilateral teleoperation. The strength of two-channel control architectures and time-delay control are exploited. First, two types of transparencyattainable two-channel control architecture are derived. In spite of the simplicity of using two communication channels, these architectures have problems in terms of implementation; they are not simple enough and not robust to uncertainties, such as errors in modeling the plant and force sensor noise. To solve the problems, timedelay control laws for two-channel control architecture are proposed. The modelindependent, nonlinear, and robust characteristics of time-delay control mitigate the problems related to complexity and robustness. Finally, the proposed control laws are applied to experiments using a 2-DOF master–slave system. The experimental results confirm the validity of the theoretical approaches. Keywords Transparency · Two-chann...

• Type: Journal
• Year: 2010
• Where: JIRS
• Authors: Jonghyun Kim, Hyung-Soon Park, Pyung Hun Chang
• Keywords: Bilateral Teleoperation, JIRS 2010, Transparencyattainable Two-channel Control, Two-channel Control Architecture