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Advances in Telerobotics pp 271–288Cite as

Bilateral Control of Teleoperation Systems Through State Convergence

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 31))

Summary

This chapter describes a new bilateral control method of teleoperation systems. This method is based on the state space formulation and it can be applied to any teleoperation system where the master and the slave would be represented by nth-order linear differential equations. The control system allows that the slave manipulator follows the master. The tracking is achieved by state convergence between the master and the slave. The method is able also to establish the desired dynamics of this convergence and the dynamics of the slave manipulator. Furthermore a simple design procedure is provided to obtain the control system gains. The advantage of this design procedure is that it is only necessary to solve a set of equations to calculate the control system gains. The control by state convergence can be also applied to teleoperation systems with communication time delay. In this case, the Taylor expansion is used to approximate the time delay. The state convergence allows that the slave manipulator follows the master in spite of the time delay in the communication channel. Experimental results with a teleoperation system of one DoF are presented to verify the control method.

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Author information

Authors and Affiliations

  1. Departamento de Ingenieria de Sistemas Industriales, Universidad Miguel Hernández de Elche, Avda. de la Universidad s/n, 03202, Elche (Alicante), Spain

    José M. Azorín, Nicolás M. García & Carlos Pérez

  2. Dtpo. Automática, Ingeniería Electrónica e Informática Industrial, Universidad Politécnica de Madrid, C/. José Gutierrez Abascal, 2, 28006, Madrid, Spain

    Rafael Aracil

Authors
  1. José M. Azorín
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  2. Rafael Aracil
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  3. Nicolás M. García
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  4. Carlos Pérez
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Editor information

Editors and Affiliations

  1. Dpto. de Automática, Ingeniería Electrónica e Informática Industrial, Universidad Politécnica de Madrid, 28006, Madrid, Spain

    Manuel Ferre  & Rafael Aracil  & 

  2. Institute of Automatic Control Engineering (LSR), Technische Universität München, D-80290, Munich, Germany

    Martin Buss

  3. Laboratory of Automation and Robotics Department of Electronics, Computer Science and Systems, University of Bologna, 40136, Bologna, Italy

    Claudio Melchiorri

  4. Robotics Lab. Depto. de Ingeniería de Sistemas y Automática, Universidad Carlos III de Madrid, 28911, (Leganés) Madrid, Spain

    Carlos Balaguer

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© 2007 Springer-Verlag Berlin Heidelberg

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Azorín, J.M., Aracil, R., García, N.M., Pérez, C. (2007). Bilateral Control of Teleoperation Systems Through State Convergence. In: Ferre, M., Buss, M., Aracil, R., Melchiorri, C., Balaguer, C. (eds) Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol 31. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71364-7_17

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  • DOI: https://doi.org/10.1007/978-3-540-71364-7_17

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-71363-0

  • Online ISBN: 978-3-540-71364-7

  • eBook Packages: EngineeringEngineering (R0)

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