Stability of Multilateral Haptic Teleoperation Systems

• Author / Creator

  Mendez, Victor H

• 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.

• Subjects / Keywords

  • Stability - activity diagram
  • Positive realness
  • Control Systems
  • Passivity of n-port networks
  • Four channel control architecture
  • Haptic
  • Trilateral teleoperators
  • Immittance parameters
  • N-port networks
  • Stability
  • Passivity and absolute stability
  • Stability analysis
  • Biotelerobotics
  • Bilateral teleoperation systems
  • Telerobotics
  • Multilateral teleoperations
  • Multilateral teleoperators
  • Passivity conditions

• Graduation date

  Spring 2013

• Type of Item

  Thesis

• Degree

  Master of Science

• DOI

  https://doi.org/10.7939/R3TD73

• License

  This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.