Transparency analysis of a scaled teleoperation system with encoder noise

The main goal of teleoperation control design problem is to provide total transparency to make the operator feel as if he is manipulating the remote object directly. However, it has not been possible to achieve perfect transparency. One of the possible reasons might be due to the presence of encoder noise. In this paper, transparency analysis for scaled teleoperation system; force-position and four-channel control architecture have been done considering the effect of encoder noise. Low-pass filters have been used to restrict the effect of the noise and hence, new criteria, relating the control parameters, the scaling factors, and the frequency of teleoperation system, have been obtained to achieve better transparency in spite of the presence of noise. Simulation results show that for low frequencies, high position to force scaling ratio, and optimal gain controller, the transparency increases as the transmitted impedance matches the scaled environment impedance.