Identification of feasible scaled teleoperation region based on scaling factors and sampling rates

The recent spread of scaled telemanipulation into microsurgery and the nano -world increasingly requires the identification of the possible operation r egion as a main system specification. A teleoperation system is a complex c ascaded system since the human operator, master. slave, and communication a re involved bilaterally. Hence, a small time delay inside a master and slav e system can be critical to the overall system stability even without commu nication time delay. In this paper we derive an upper bound of the scaling product of position and force by using Llewellyns unconditional stability. This bound can be used for checking the validity of the designed bilateral controller. Time delay from the sample and hold of computer control and its effects on stability of scaled teleoperation are modeled and simulated bas ed on the transfer function of the teleoperation system. The feasible opera tion region in terms of position and force scaling decreases sharply as the sampling rate decreases and time delays inside the master and slave increa se.