Bilateral teleoperation control to improve transparency in stiff environment with time delay

Authors

Abstract:

This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller, where online estimation of the environment impedance is performed, and then used as the desired impedance at the master side. Numerical simulations are provided to verify the theoretical results under different conditions, such as constant and time-varying delay, obstructed environment and transitioning between soft and stiff environment. Afterwards, comparison with a recent work is addressed.

Upgrade to premium to download articles

Sign up to access the full text

Already have an account?login

similar resources

Bilateral Teleoperation Control for Improving Transparency in Stiff Environment with Time Delay

This paper proposes a new bilateral control scheme to ensure the both transparency and robust stability under unknown constant time delay in stiff environments. Presented method guaranties system performance and robust stability while the transition between soft and stiff environments occur. Presented framework is a combination of adaptive sliding mode controller and adaptive impedance controll...

full text

Adaptive Control of Bilateral Teleoperation with Time Delay

This paper presents model-based predictive controllers that achieve a high level of transparency while maintaining stability in bilateral teleoperation under known constant or variable time delay. This goal is accomplished by utilizing available information on system model and time delay within an adaptive predictive control framework. The performance objectives are delay-free position tracking...

full text

Sliding-Mode Controller for Bilateral Teleoperation with Varying Time Delay

A bstroct— Bilateral teleoperation systems, connected to computer networks such as Internet have to deal with varying communication time delay. And the entire system is easy to become unstable due to irregular time delay. In this paper, we design a sliding-mode controller for the slave and an impedance controller for the master. We propose a modified sliding-mode controller, in which the nonlin...

full text

Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay

To conduct tasks that need high dexterity by teleoperation, a unified hand/arm master-slave system was developed. To measure the dexterity of individual teleoperation systems all over the world in equal condition, we propose toy block assembling (LEGO) as the benchmark test for teleoperation systems. Meanwhile, a bilateral teleoperation experiment with ETS-VII (Engineering Test Satellite No.7) ...

full text

Multiple Cooperative Bilateral Teleoperation with Time-Varying Delay

This paper deals with a passive-decomposition based control of bilateral teleoperation between a single master robot and multiple cooperative slave robots with time varying delay. At first, we decompose the dynamics of multiple slave robots into two decoupled dynamics by using the passive-decomposition: the shape-system describing dynamics of the cooperative works, and the locked-system represe...

full text

Perceptuo-motor Transparency in Bilateral Teleoperation

In bilateral teleoperation, the operator holds a local robot which determines the motion of a remote robot and continuously receives delayed force feedback. Transparency is a measure of teleoperation system fidelity. The ideal teleoperator system is the identity channel, in which there is neither delay nor distortion. During the last decades transparency was widely analyzed using two-port hybri...

full text

My Resources

Save resource for easier access later

Save to my library Already added to my library

{@ msg_add @}


Journal title

volume 10  issue 3

pages  203- 211

publication date 2014-09

By following a journal you will be notified via email when a new issue of this journal is published.

Keywords

Hosted on Doprax cloud platform doprax.com

copyright © 2015-2023