Title:
Dissipativity-Based Teleoperation with Time-Varying Communication Delays
Dissipativity-Based Teleoperation with Time-Varying Communication Delays
Author(s)
Varnell, Paul
Zhang, Fumin
Zhang, Fumin
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Abstract
We analyze the effects of communication delays in teleoperation systems using dissipativity
theory along with explicit models of the operator and robot. We utilize a simple model of the
operator's behavior that describes human pointing motions, as generated by an interface such as
a mouse pointer or tablet, and we use a robot model that is suitable for mobile robots or robotic
manipulators. Using dissipativity conditions for stability, we show that the communication
delays can be compensated for in the robot controller with a relatively simple extension to
a controller designed for the situation without delays. We also show that the communication
delays can lead to problems for human pointing in certain situations; specifically, if the operator
overshoots their target, it may lead to instability unless corrective action is taken by the user
interface. Simulation is shown to validate the result
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Date Issued
2013-09
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Text
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Proceedings