1. SYNCHRONIZATION OF BILATERAL TELEOPERATION SYSTEMS WITH INPUT SATURATION Department of Mechatronics in GIST Seung-Ju Lee Advisor: pf. Hyo-Sung Ahn

2. Contents  Introduction  Preliminary  Main Result  Simulation  Conclusion

3. Introduction  Applications of Bilateral Teleoperation

4. Introduction  Stability Issue  Synchronization Issue  Input Saturation

5. Preliminary  Modeling of Bilateral Teleoperation Property 1: The inertia matrix is symmetric positive definite and there exist some positive constants such that Property 2: is skew symmetric.

6. Preliminary  Sector Bounded Function u σ (u)

7. Main Result  The Control Architecture  New Output

8. Main Result  Primary Control Law  Rewritten Equations of Robot Dynamics ① ②

9. Main Result  Errors  Synchronization as  Key control Law (with Saturation) ④ ③

10. Main Result  Assumption 1 The human operator and the environment are passive with and as inputs respectively.  Assumption 2 The operator and the environmental force are bounded.  Assumption 3 All signals belongs to, the extended space.

11. Main Result  Theorem Given nonlinear bilateral teleoperation system described by ① and ②, the control ④ makes the system synchronize, that is, ③ converges to origin. Poof: Given Lyapunov function

12. Main Result Using Barbalat’s lemma converges to 0

13. Main Result Using Barbalat’s lemma converges to 0

14. Simulation  Initial setting of master and slave robots

15. Simulation  One degree of freedom of master and slave robots  A human operator and an environment  Parameters

16. Simulation  Without Saturation

17. Simulation  With Saturation Magnitude of 0.3

18. Simulation  With Saturation Magnitude of 0.05

19. Conclusion  Saturation problem is studied in bilateral teleoperation system.  We can guarantee synchronization between master and slave robots within the input constraint.  This demonstration is proved by sector bounded function analysis.

20. Q & A Thank You !