Performance Comparison of Interaction Control Techniques for Teleoperated systems: Case study of a 1-DOF haptic device

Tele-presence is an essential feature of any telerobotic system and haptic feedback plays an important role in achieving it. Stability and transparency issues arising due to the multimodal synchronicity of haptic systems can be conventionally addressed by incorporation of suitable control laws. In this paper, the efficacy of interaction controllers like impedance and admittance controllers in comparison to the traditional PID controller is analyzed by evaluating the performance metrics of a teleoperation system. A guideline is suggested here to select a control algorithm based on the environment with which the robot is interacting. A rotational one degree of freedom teleoperation system is considered as a platform for analysis and is subjected to interact with various environments. Simulation studies corresponding to the real-time implementation of the teleoperation system are performed in MATLAB. The analysis shows that the selection of controller depends on the interaction environment, and appropriate selection of controllers will lead to better transparency and stability.