Enhancing flexibility of the dual-master-dual-slave multilateral teleoperation system

A flexible dual-master-dual-slave teleoperation system is proposed. On the master side, a new control law with a variable dominance factor is proposed to offer the system high flexibility and ease of training. A new wave-based Time Domain Passivity Approach (TDPA) is deployed to guarantee the channel passivity and high transparency in the presence of random time delays. The proposed algorithm is validated by applying it to a multilateral teleoperation platform consisting of four 3-DOF haptic devices configured as two masters and two slaves. The results demonstrate the feasibility of the proposed system in different complex tasks and its superior performance compared to previous work.

[1]  Keyvan Hashtrudi-Zaad,et al.  A Framework for Unconditional Stability Analysis of Multimaster/Multislave Teleoperation Systems , 2013, IEEE Transactions on Robotics.

[2]  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.

[3]  Shahin Sirouspour,et al.  Multi-operator/multi-robot teleoperation: an adaptive nonlinear control approach , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Robert Richardson,et al.  A Control Strategy for Upper Limb Robotic Rehabilitation With a Dual Robot System , 2010, IEEE/ASME Transactions on Mechatronics.

[5]  A Ghorbanian,et al.  A novel control framework for nonlinear time-delayed dual-master/single-slave teleoperation. , 2013, ISA transactions.

[6]  Mark W. Spong,et al.  Semiautonomous control of multiple networked Lagrangian systems , 2009 .

[7]  Martin Buss,et al.  A Survey of Environment-, Operator-, and Task-adapted Controllers for Teleoperation Systems , 2010 .

[8]  Keyvan Hashtrudi-Zaad,et al.  Dual-User Teleoperation Systems: New Multilateral Shared Control Architecture and Kinesthetic Performance Measures , 2012, IEEE/ASME Transactions on Mechatronics.

[9]  Ya-Jun Pan,et al.  Bilateral Teleoperation With Time-Varying Delay: A Communication Channel Passification Approach , 2013, IEEE/ASME Transactions on Mechatronics.

[10]  P.X. Liu,et al.  Design and implementation of a collaborative virtual haptic surgical training system , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[11]  Ranjan Mukherjee,et al.  A shared-control approach to haptic interface design for minimally invasive telesurgical training , 2005, IEEE Transactions on Control Systems Technology.