Transparency Analysis of a Scaled Teleoperation System with Encoder Noise

다국어 초록 (Multilingual Abstract)

The main goal of teleoperation control design problem is to provide total transparency to make the operatorfeel as if he is manipulating the remote object directly. However, it has not been possible to achieve perfecttransparency. One of the possible reasons might be due to the presence of encoder noise. In this paper, transparencyanalysis for scaled teleoperation system; force-position and four-channel control architecture have been doneconsidering the effect of encoder noise. Low-pass filters have been used to restrict the effect of the noise and hence, newcriteria, relating the control parameters, the scaling factors, and the frequency of teleoperation system, have beenobtained to achieve better transparency in spite of the presence of noise. Simulation results show that for lowfrequencies, high position to force scaling ratio, and optimal gain controller, the transparency increases as thetransmitted impedance matches the scaled environment impedance.

목차 (Table of Contents)

• Abstract
• 1. INTRODUCTION
• 2. TRANSPARENCY ANALYSIS
• 3. CASE STUDY
• 4. CONCLUSION
• REFERENCES