Force-reflecting teleoperation over wide-area networks

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Polouchine, Ilia G.




Bilateral (force-reflecting) teleoperation in the presence of network induced communication constraints presents significant challenges in terms of stability and transparency of the teleoperator system. It is well-known that the stability of the force reflecting teleoperators is compromised in the presence of even small communication delays. Also, stability and transparency are conflicting goals; in particular, high force reflection gain provides a better kinesthetic as well as tactile feedback, however, it also destabilizes the overall system due to increasing the closed-loop gain. In this thesis, a set of results is presented towards stable and transparent force-reflecting teleoperation in the presence of communication constraints typical for serial communication networks. A small gain approach to network-based bilateral teleoperation is systematically developed. The approach is built upon a new version of the input-to-output stability small gain theorem for systems which communicate over multiple networked channels. Based on this theorem, schemes for bilateral teleoperation over networks are developed that guarantee the stability/tracking properties in the presence of network induced communication constraints. Projection-based force reflection algorithms are introduced that solve the contradiction between stability, maneuvrability, and high force reflection gain; in particular, these algorithms allow for achieving the stability for arbitrarily low damping of the master manipulator and arbitrarily high force reflection gain Next, the problem of design of the network-based teleoperators enhanced by means of virtual environment is addressed. The approach proposed is based on a nonlinear sampled-data design framework, and uses ideas from model-based control as well as multi-rate sampled data systems. The control algorithms and the communication protocols are presented that guarantee stability of the overall system under mild assumptions imposed on communication process.


Robotics in medicine.
Automatic control -- Mathematics.
Wide area networks (Computer networks)
Robots -- Control systems.
Computer vision in medicine.




Carleton University

Thesis Degree Name: 

Doctor of Philosophy: 

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Thesis Degree Discipline: 

Engineering, Electrical

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Theses and Dissertations

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