Parametric Sensitivity Analyses for Perceived Impedance in Haptic Teleoperation

Uddin, Riaz; Saleem, Muhammad Hammad; Ryu, Jeha

Abstract

In this paper, sensitivity analyses (SA) are performed in order to find the effect of variations of master/slave site dynamics parameters on the perceived impedance in haptic teleoperation in the absence/presence of communication time delays. These analyses are useful in finding the dominant parameter perceived by the human operator during the teleoperation. In this regard, the comprehensive sensitivity analyses are performed for the prominent force reflecting teleoperation architectures such as (i) two-channel (2C) teleoperation architectures mainly (a) position error-based architecture (PE) and (b) direct force reflection architecture (PF), (ii) four-channel architecture (4C) and, (iii) three-channel (3C) architecture (a) OFC architecture and (b) EFC architecture. Several important results and conclusions are presented for sensitivity of perceived impedance in frequency domain using MATLAB/Simulink.

Citation

Uddin, R., Saleem, M. H., & Ryu, J. (2019). Parametric Sensitivity Analyses for Perceived Impedance in Haptic Teleoperation. International Journal of Control, Automation and Systems, 17(8), 2083-2096. https://doi.org/10.1007/s12555-018-0614-8

• Journal Article Type: Article
• Acceptance Date: Mar 8, 2019
• Online Publication Date: May 27, 2019
• Publication Date: May 27, 2019
• Deposit Date: Feb 17, 2024
• Journal: International Journal of Control, Automation and Systems
• Print ISSN: 1598-6446
• Electronic ISSN: 2005-4092
• Publisher: Springer Verlag
• Peer Reviewed: Peer Reviewed
• Volume: 17
• Issue: 8
• Pages: 2083-2096
• DOI: https://doi.org/10.1007/s12555-018-0614-8
• Keywords: Computer Science Applications; Control and Systems Engineering