Transient shaping in force-reflecting teleoperation

It has been shown that stability can actually be guaranteed for all possible transmission delays simply by having the transmission mimic natural wave carriers, such as flexible beams or electrical transmission lines. Passivity analysis provides a convenient framework for analyzing such systems while accommodating for arbitrary environment interactions and human operator inputs. Though stability is fundamental, practical usefulness is determined by transient characteristics. Thus, this paper focuses on the transient behavior of stable force-reflecting teleoperation systems. It builds on the notion of impedance matching to select the controller structure and tune the controller parameters, and finds a symmetric controller configuration to provide the best behavior. It also includes a tuning mechanism to trade-off the accuracy of force-reflection (and feeling of telepresence) with the possible speeds of operation.<>