Bilateral Teleoperation: Quantifying the Requirements for and Restrictions of Ideal Transparency

The well-known trade-off between transparency and\nstability challenges the realization of bilateral teleoperation\nsystems. Ideal conditions for the four-channel framework have\nbeen presented, but the practical feasibility is hardly quantified.\nThis paper bridges the gap between existing detailed analysis\nof basic two-channel controllers and the ideal conditions for the\nfour-channel framework.\nStarting from the fundamental stability and transparency\nlimits of the Position-Force controller, two extensions of this\ncontroller have been analyzed in detail, using existing metrics for\ntransparency and the absolute stability and bounded environment\npassivity criterion. This analysis quantitatively describes the\neffect of hardware properties, modelling errors and low-pass\nfilters and illustrates as such the restrictions on the realization\nof ideal transparency. The experimental results presented in this\npaper, demonstrate the restricted stiffness transparency of the\nPosition-Force controller, as well as how