Implementation of a two-channel bilateral control architecture for improving the transparency and stability robustness of a scaled telemanipulation system

This dissertation presents the development and implementation of a two-channel position-force control architecture that addresses both the transparency bandwidth and stability robustness of a bilateral teleoperation system. Specifically, stability and performance enhancements are obtained by introducing a dynamic compensator into the system to shape the frequency-domain properties of the human-teleoperator-environment loop. Classical compensation techniques are used to provide transparency in the bandwidth of interest while maintaining the gain and phase margins necessary for robust stability. Since compensation can be provided at specific frequencies, simultaneous improvements in the transparency and stability robustness can be achieved.; The two-channel bilateral control architecture is implemented on a three degree-of-freedom scaled master-slave telemanipulation system, and the transparency and stability robustness of the system are experimentally assessed. Loop-shaping compensators are used to increase the transparency bandwidth, while maintaining the stability robustness of the system, and the results are compared with those of the uncompensated system. The technology demonstrated by this telemanipulation system will potentially allow delicate experimental, assembly, and surgical procedures to be performed with greater dexterity and reliability.