A Validity of Transparency Optimized 4-Channel Architecture in Bilateral Teleoperation

Saleem, Muhammad Hammad; Uddin, Riaz

Abstract

In order to perform any task remotely using teleoperation system, transparency is considered as an important
performance measure. There are many teleoperation architectures, which are used in several applications of teleoperation.
In this research, 4-channel architecture is analyzed and validated as it provides adequate number of parameters for
achieving better transparency as compared to other teleoperation architectures. Initially, transparency index is defined
then further expressions for hybrid parameters are derived. Later, controller gains are designed to achieve good
transparency. Force and position profiles of the master and slave devices showing transparency improvement are obtained
by the help of Matlab/Simulink with/without time delay. The controllers are designed in such a way that the required
number of sensors are used as minimum as possible.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 3rd International Electrical Engineering Conference (IEEC 2018)
• Start Date: Feb 9, 2018
• Online Publication Date: Feb 9, 2018
• Publication Date: Feb 9, 2018
• Deposit Date: Feb 17, 2024