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Stability of Multilateral Haptic Teleoperation Systems Open Access


Other title
Immittance parameters
n-port networks
Multilateral teleoperators
Stability analysis
Passivity conditions
Bilateral teleoperation systems
Multilateral teleoperations
Four channel control architecture
passivity of n-port networks
Positive realness
Trilateral teleoperators
Stability - activity diagram
Control Systems
Passivity and absolute stability
Type of item
Degree grantor
University of Alberta
Author or creator
Mendez, Victor H
Supervisor and department
Dr. Mahdi Tavakoli
Examining committee member and department
Dr. Zhao, Qing (Electrical & Computer Engineering)
Dr. Prasad, Vinay (Chemical & Materials Engineering)
Dr. Tavakoli, Mahdi (Electrical & Computer Engineering)
Department of Electrical and Computer Engineering
Control Systems
Date accepted
Graduation date
Master of Science
Degree level
Multilateral systems involving haptic information sharing between several users have recently found interesting applications in cooperative haptic teleoperation and haptic-assisted training. It is intuitively understood that some tasks are performed more effectively with two hands or through collaboration than one hand or individual operation. By using multiple user interfaces (“masters”) and one remote robot (“slave”) or more, multilateral tele-cooperation systems enable haptic information sharing and collaboration in performing a task in a remote environment between multiple users. Despite the aforementioned benefits, research in this area is still in its initial stage. In fact, the only multilateral system that has been thoroughly investigated is the most basic one: the bilateral teleoperation system involving teleoperation between one master and one slave. As with any other robotic system, stability of multilateral haptic teleoperation systems is of paramount importance. Study of stability of such systems must consider the fact that the human users are part of the closed-loop system and thus affect the stability. However, to model the human operator is practically impossible, imposing great difficulties in the system’s stability analysis. This thesis presents a novel criterion to study the stability of multilateral teleoperation systems based on passivity. This criterion provides researchers with an analytical, closed-form, necessary and sufficient condition to investigate the stability of multilateral haptic teleoperation systems. The thesis also proposes a numerical method for investigation of absolute stability of trilateral teleoperators.
Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
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