Effects of quantization and saturation on performance in bilateral teleoperator

摘要

Summary Quantization caused by communication channel and saturation caused by manipulator actuator can influence the synchronized motion of bilateral teleoperation system. The primary contribution of this paper is the consideration of quantization phenomenon when designing control law for teleoperator. Two types of control schemes are considered: position error feedback and slave torque feedback. We demonstrate that asymptotic stability is possible if a suitable relationship holds among the parameters of quantizer, controller, and saturation level. The secondary contribution of the paper is the estimation for the domain of attraction of teleoperator. Linear matrix inequality–based optimization conditions are established to guarantee the stability. The calculated region provides a basis when selecting the initial states. Finally, to further demonstrate validity of the proposed method, simulation and experiment are performed on a pair of robots, which have limited actuation capacity and communication channel.