2 research outputs found
Transparency Trade-offs for a 3-channel Controller Revealed by the Bounded Environment Passivity Method
In this paper, the Bounded Environment Passivity
method [1] is applied to a 3-channel controller. This method
enables the design of teleoperation controllers that show passive
behaviour for interactions with a bounded range of environments.
The resulting tuning guidelines, derived analytically,
provide interesting tuning flexibility, which allows to focus
on different aspects of transparency. As telesurgery is the
motivation behind this work, the focus lies on correctly reflecting
the stiffness properties of the environment. A comparison
between the transparency and stability properties of this 3-
channel controller and the same properties of the Position-
Force controller demonstrates the interesting properties of
the 3-channel controller. The theoretical results are verified
experimentally on a 1 d.o.f. master-slave setup.status: publishe