Internet-Based Bilateral Teleoperation Based on Wave Variable With Adaptive Predictor and Direct Drift Control

In a conventional bilateral teleoperation, transmission delay over the Internet can potentially cause instability. A wave variable algorithm guarantees teleoperation stability under varying transmission delay at the cost of poor transient performance. Adding a predictor on the master side can reduce this undesirable side effect, but that would require a slave model. An inaccurate slave model used in the predictor as well as variations in transmission delay, both of which are likely under realistic situations, can result in steady-state errors. A direct drift control algorithm is used to drive this error to zero, regardless of the source of the error. A semi-adaptive predictor that can distinguish between free space and a rigid contact environment is used to provide a more accurate force feedback on the master side. A full adaptive predictor is also used that estimates the environmental force using recursive least squares with a forgetting factor. This research presents the experimental results and evaluations of the previously mentioned wavevariable-based methods under a realistic operation environment using a real master and slave. The algorithm proposed is innovative in that it takes advantage of the strengths of several control methods to build a promising bilateral teleoperation setup that can function under varying transmission delay, modeling error, and changing environment. Success could lead to practical applications in various fields, such as space-based remote control, and telesurgey.

[1]  Paolo Fiorini,et al.  Stable tracking in variable time-delay teleoperation , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[2]  Blake Hannaford,et al.  Performance testing of passive communication and control in teleoperation with time delay , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[3]  Luis F. Peñín,et al.  Force reflection for time-delayed teleoperation of Space robots , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[4]  J.Y. Lew,et al.  Wave variables based teleoperation with time delay: application to space based laser maintenance , 2004, 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720).

[5]  S. Ganjefar,et al.  Teleoperation systems design using augmented wave-variables and Smith predictor method for reducing time-delay effects , 2002, Proceedings of the IEEE Internatinal Symposium on Intelligent Control.

[6]  Shahram Payandeh,et al.  A delay prediction approach for teleoperation over the Internet , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  R. P. Paul,et al.  Model-based, delay-tolerant teleoperation in unstructured environments , 1991, [1991 Proceedings] 6th Mediterranean Electrotechnical Conference.

[8]  Tsuneo Yoshikawa,et al.  Bilateral teleoperation under time-varying communication delay , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[9]  Masaru Uchiyama,et al.  Virtual reality based teleoperation which tolerates geometrical modeling errors , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

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

[11]  Tsuneo Yoshikawa,et al.  Ground-space bilateral teleoperation of ETS-VII robot arm by direct bilateral coupling under 7-s time delay condition , 2004, IEEE Transactions on Robotics and Automation.

[12]  Tsuneo Yoshikawa,et al.  Bilateral control with energy balance monitoring under time-varying communication delay , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[13]  O Smith,et al.  CLOSER CONTROL OF LOOPS WITH DEAD TIME , 1957 .

[14]  F. B. Llewellyn,et al.  Some Fundamental Properties of Transmission Systems , 1952, Proceedings of the IRE.

[15]  Kazuhiro Kosuge,et al.  Bilateral feedback control of telemanipulators via computer network , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[16]  W R Ferrell.  Delayed Force Feedback1 , 1966, Human factors.

[17]  Blake Hannaford,et al.  Force-reflection and shared compliant control in operating telemanipulators with time delay , 1992, IEEE Trans. Robotics Autom..

[18]  Bruce A. Francis,et al.  Bilateral controller for teleoperators with time delay via μ-synthesis , 1995, IEEE Trans. Robotics Autom..

[19]  Jean-Jacques E. Slotine,et al.  Stable adaptive teleoperation , 1991 .

[20]  S. Munir,et al.  Wave-based teleoperation with prediction , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[21]  Abderrahmane Kheddar,et al.  A predictive wave-based approach for time delayed virtual environments haptics systems , 2002, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication.

[22]  Tetsuo Kotoku.  A Predictive Display With Force Feedback And Its Application To Remote Manipulation System With Transmission Time Delay , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[23]  Paolo Fiorini,et al.  A Design and Control Environment for Internet-Based Telerobotics , 1998, Int. J. Robotics Res..