Bilateral control of teleoperators with flexible joints by the H infinity approach

C. Andriot; Raymond Fournier

doi:10.1117/12.142099

26 March 1993 Bilateral control of teleoperators with flexible joints by the H infinity approach

C. Andriot, Raymond Fournier

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142099
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

The proposed paper describes a new method to synthesize a 'generalized bilateral master-slave system'. It uses two criteria: a transparency distance, which measures the performance objective and a passivity distance which measures the stability objective. These criteria are useful to better understand or extend the previous results published on the subject. This method relies on Passivity concept, on impedance control and on H infinity robust control. We will split the synthesis of the Master Slave System into two distinct problems. The first one is the synthesis of a bilateral control law which defines a passive linkage between the two manipulators. The second problem is the synthesis of a control law, specific for each manipulator which increases the sensitivity of the manipulator to external forces, in order to provide backdrivability. It also has to secure the passivity of the closed loop system. The first problem is now well understood then we focus on the second problem and we propose a new synthesis solution. In the control design method we explicitly take into account the facts that manipulators have flexible joints, they suffer from dry friction, sensor noises and neglected dynamics. The synthesis issue of the control is clearly related to H infinity optimization problem of which viable computer algorithms are available. Experimental results illustrate the proposed controller design.

Citation Download Citation

C. Andriot and Raymond Fournier "Bilateral control of teleoperators with flexible joints by the H infinity approach", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142099

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