Coordination Control for Haptic and Teleoperator Systems

In this paper, two controllers are developed for nonlinear haptic and teleoperator systems for coordination of the master and slave systems. The first controller is proven to yield a semi-global asymptotic result in the presence of parametric uncertainty in the master and the slave dynamic models provided the user and the environmental input forces are measurable. The second controller yields a global asymptotic result despite unmeasurable user and environmental input forces provided the dynamic models of the master and slave are known. These controllers rely on a transformation and a flexible target system to allow the master system's impedance to be easily adjusted so that it matches a desired target system. This work also offers a structure to encode a velocity field assist mechanism to provide the user help in controlling the slave system in completing a pre-defined contour following task. For each controller, Lyapunov-based techniques are used to prove that both controllers provide passive coordination of the haptic/teleoperator system when the velocity field assist mechanism is disabled. When the velocity field assist mechanism is enabled, the analysis proves the coordination of the haptic/teleoperator system

[1]  Blake Hannaford,et al.  A design framework for teleoperators with kinesthetic feedback , 1989, IEEE Trans. Robotics Autom..

[2]  J. Edward Colgate,et al.  Haptic Interaction With Constrained Dynamic Systems , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[3]  Perry Y. Li,et al.  Toward robust passivity: a passive control implementation structure for mechanical teleoperators , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[4]  Darren M. Dawson,et al.  A Continuous Control Mechanism for Uncertain Nonlinear Systems , 2004 .

[5]  Hassan K. Khalil,et al.  Nonlinear Systems Third Edition , 2008 .

[6]  Perry Y. Li,et al.  Passive velocity field control of mechanical manipulators , 1995, IEEE Trans. Robotics Autom..

[7]  Tsuneo Yoshikawa,et al.  Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment , 1994, IEEE Trans. Robotics Autom..

[8]  Jean-Jacques E. Slotine,et al.  Designing force reflecting teleoperators with large time delays to appear as virtual tools , 1997, Proceedings of International Conference on Robotics and Automation.

[9]  Dongjun Lee,et al.  Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Application , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[10]  Perry Y. Li,et al.  Passive bilateral control and tool dynamics rendering for nonlinear mechanical teleoperators , 2005, IEEE Transactions on Robotics.

[11]  Jean-Jacques E. Slotine,et al.  Stable Adaptive Teleoperation , 1990, 1990 American Control Conference.

[12]  M.W. Spong,et al.  Adaptive coordination control of bilateral teleoperators with time delay , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[13]  Ming Zhu,et al.  Transparent Bilateral Teleoperation under Position and Rate Control , 2000, Int. J. Robotics Res..

[14]  Perry Y. Li,et al.  Passive coordination control of nonlinear bilateral teleoperated manipulators , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[15]  M.W. Spong,et al.  On position tracking in bilateral teleoperation , 2004, Proceedings of the 2004 American Control Conference.

[16]  Warren E. Dixon,et al.  Passive coordination of nonlinear bilateral teleoperated manipulators , 2005, AIM 2005.

[17]  Frank L. Lewis,et al.  Robot Manipulator Control: Theory and Practice , 2003 .

[18]  Blake Hannaford,et al.  Time domain passivity control with reference energy following , 2005, IEEE Transactions on Control Systems Technology.

[19]  Dale A. Lawrence Stability and transparency in bilateral teleoperation , 1993, IEEE Trans. Robotics Autom..

[20]  S. Hirche,et al.  Bilateral teleoperation over the internet: the time varying delay problem , 2003, Proceedings of the 2003 American Control Conference, 2003..

[21]  Michael Goldfarb,et al.  Loop shaping for transparency and stability robustness in bilateral telemanipulation , 2004, IEEE Transactions on Robotics and Automation.

[22]  Wen-Hong Zhu,et al.  Stability guaranteed teleoperation: an adaptive motion/force control approach , 2000, IEEE Trans. Autom. Control..

[23]  Blake Hannaford,et al.  Time domain passivity control of haptic interfaces , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[24]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[25]  Perry Y. Li,et al.  Passive bilateral feedforward control of linear dynamically similar teleoperated manipulators , 2003, IEEE Trans. Robotics Autom..

[26]  J. Edward Colgate,et al.  Robust impedance shaping telemanipulation , 1993, IEEE Trans. Robotics Autom..

[27]  Thomas B. Sheridan,et al.  Telerobotics, Automation, and Human Supervisory Control , 2003 .

[28]  Javier Moreno-Valenzuela,et al.  A robust velocity field control , 2002, IEEE Trans. Control. Syst. Technol..

[29]  Myung Jin Chung,et al.  Adaptive controller of a master-slave system for transparent teleoperation , 1998, J. Field Robotics.

[30]  Z. Qu,et al.  Model‐Based Learning Controls And Their Comparisons Using Lyapunov Direct Method , 2002 .

[31]  Dong-Soo Kwon,et al.  A novel adaptive bilateral control scheme using similar closed-loop dynamic characteristics of master/slave manipulators , 2001, J. Field Robotics.

[32]  Septimiu E. Salcudean,et al.  Adaptive transparent impedance reflecting teleoperation , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[33]  M. Corless,et al.  Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems , 1981 .

[34]  Perry Y. Li,et al.  Passive tool dynamics rendering for nonlinear bilateral teleoperated manipulators , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[35]  Dongjun Lee,et al.  Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Theory , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[36]  M. Shi,et al.  Adaptive control of teleoperation systems , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[37]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1989 .