{"title":"Stability Verification for Bilateral Teleoperation System with Variable Time Delay","authors":"M. Sallam, A. Ramadan, M. Fanni, M. Abdellatif","volume":59,"journal":"International Journal of Mechanical and Mechatronics Engineering","pagesStart":2477,"pagesEnd":2483,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/3652","abstract":"Time delay in bilateral teleoperation system was\r\nintroduced as a sufficient reason to make the system unstable or\r\ncertainly degrade the system performance. In this paper, simulations\r\nand experimental results of implementing p-like control scheme,\r\nunder different ranges of variable time delay, will be presented to\r\nverify a certain criteria, which guarantee the system stability and\r\nposition tracking. The system consists of two Phantom premium 1.5A\r\ndevices. One of them acts as a master and the other acts as a slave.\r\nThe study includes deriving the Phantom kinematic and dynamic\r\nmodel, establishing the link between the two Phantoms over\r\nSimulink in Matlab, and verifying the stability criteria with\r\nsimulations and real experiments.","references":"[1] Anderson, R. and Spong, M, \"Bilateral control of teleoperators with\r\ntime delay,\" IEEE Transactions on Automatic Control, vol. 34, no. 5,\r\npp. 494-501, May 1989.\r\n[2] Niemeyer, G. and Slotine, J., \"Stable adaptive teleoperation,\" IEEE\r\nJournal of Oceanic Engineering, vol. 16, no. 1, pp. 152-162, 1991.\r\n[3] Hastrudi-Zaad, K. and Salcudean, S.E, \"On the Use of Local Force\r\nFeedback for Transparent Teleoperation,\" in Proc. 1999 IEEE Int. Conf.\r\nRob. & Auto., pp. 1863-1869.\r\n[4] Azorin, J. M., Reinoso, O., Sabater, J. M., Perez, C., and Aracil, R., \"A\r\nNew Control Method of Teleoperation with Time Delay,\" Int. Conf.\r\nAdvanced Robotics, Coimbra, Portugal, pp. 100-105, July 2003.\r\n[5] Lee, D. and Spong, M, \"Passive bilateral teleoperation with constant\r\ntime delay,\" IEEE Transactions on Robotics, vol. 22, no. 2, pp. 269-\r\n281, 2006.\r\n[6] J. H. Park and H. C. Cho, \"Sliding-Mode Controller for Bilateral\r\nTeleoperation with Varying Time Delay,\" in Proc. 1999 IEEWASME,\r\nInt. Conf. Advanced intelligent Mechatronics, Atlanta, USA, pp. 19-23,\r\nSeptember 1999.\r\n[7] Lozano, R., Chopra, N. and Spong, M., \"Passivation of force reflecting\r\nbilateral teleoperators with time varying delay,\" in Proc.\r\nMechatronics-02, Entschede, The Netherlands, pp. 24-26, 2002.\r\n[8] Nuno, E., Basa\u251c\u2592ez, L., Ortega, R., and Spong, M., \"Position Tracking\r\nfor Non-linear Teleoperators with Variable Time Delay,\" in Proc. of I. J.\r\nRobotic Res., 2009, pp. 895-910.\r\n[9] Cavusoglu M C, and Feygin D., \"Kinematics and Dynamics of\r\nPhantom(TM) Model 1.5 Haptic Interface,\". [R]. Berkeley: University\r\nof California, Elec. Research Laboratory Memo M01\/15, 2001.\r\n[10] B. Taati, A. Tahmasebi and K. Hashtrudi-Zaad, \"Experimental\r\nidentification and analysis of the dynamics of a PHANTOMTM\r\nPremium 1.5A haptic device,\" Presence: Teleoperator & Virtual\r\nEnvironment, June 2008.","publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 59, 2011"}