Real-time control of bilateral teleoperation system with adaptive computed torque method

This paper aims to use the adaptive computed torque control (ACTC) method to eliminate the kinematic and dynamic uncertainties of master and slave robots and for the control of the system in the presence of forces originating from human and environment interaction.,In case of uncertainties in the robot parameters that are utilized in teleoperation studies and when the environment where interactions take place is not known and when there is a time delay, very serious problems take place in system performance. An adaptation rule was created to update uncertain parameters. In addition to this, disturbance observer was designed for slave robot. Lyapunov function was used to analyze the system’s position tracking and stability. A visual interface was designed to ensure that the movements of the master robot provided a visual feedback to the user.,In this study, a visual interface was created, and position and velocity control was achieved utilizing teleoperation; the system’s position tracking and stability were analyzed using the Lyapunov method; a simulation was applied in a real-time environment, and the performance results were analyzed.,This study consisted of both simulation and real-time studies. The teleoperation system, which was created in a laboratory environment, consisted of six-degree-of-freedom (DOF) master robots, six-DOF industrial robots and six-DOF virtual robots.

[1]  A Cuschieri,et al.  Analysis of errors enacted by surgical trainees during skills training courses. , 2005, Surgery.

[2]  Graham C. Goodwin,et al.  Adaptive computed torque control for rigid link manipulators , 1986, 1986 25th IEEE Conference on Decision and Control.

[3]  Roberto Horowitz,et al.  Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators , 1990, Int. J. Robotics Res..

[4]  S. Shankar Sastry,et al.  Adaptive Control of Mechanical Manipulators , 1987 .

[5]  Kouhei Ohnishi,et al.  Disturbance decomposition of time delay system by shadow robot based on network disturbance concept , 2009, 2009 IEEE International Conference on Industrial Technology.

[6]  Kevin B. Fite.  Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation , 2004 .

[7]  M. Spong,et al.  PASSIVE BILATERAL CONTROL OF TELEOPERATORS UNDER CONSTANT TIME-DELAY , 2005 .

[8]  Mohammad Teshnehlab,et al.  Self tuning of computed torque gains by using neural networks with flexible structures , 1994 .

[9]  Yen-Chen Liu,et al.  Adaptive Control for Nonlinear Teleoperators With Uncertain Kinematics and Dynamics , 2015, IEEE/ASME Transactions on Mechatronics.

[10]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[11]  Warren E. Dixon,et al.  Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics , 2007, IEEE Transactions on Automatic Control.

[12]  Emmanuel Nuño,et al.  An Adaptive Controller for Bilateral Teleoperators: Variable Time-Delays Case , 2014 .

[13]  Rogelio Lozano,et al.  Synchronization of bilateral teleoperators with time delay , 2008, Autom..

[14]  Hassan K. Khalil,et al.  Adaptive output feedback control of robot manipulators using high-gain observer , 1997 .

[15]  Zhan Gao,et al.  Haptic sculpting of multi-resolution B-spline surfaces with shaped tools , 2006, Comput. Aided Des..

[16]  S. Arimoto,et al.  Feedback control for robotic manipulator with an uncertain Jacobian matrix , 1999, J. Field Robotics.

[17]  Myung Jin Chung,et al.  Adaptive controller of a master–slave system for transparent teleoperation , 1998 .

[18]  Suguru Arimoto,et al.  Approximate Jacobian control for robots with uncertain kinematics and dynamics , 2003, IEEE Trans. Robotics Autom..

[19]  Farzin Piltan,et al.  Design Baseline Computed Torque Controller , 2012 .

[20]  Romeo Ortega,et al.  Position Tracking for Non-linear Teleoperators with Variable Time Delay , 2009, Int. J. Robotics Res..

[21]  Thomas B. Sheridan,et al.  Space teleoperation through time delay: review and prognosis , 1993, IEEE Trans. Robotics Autom..

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

[23]  Seiichiro Katsura,et al.  Medical Mechatronics – An Application to Haptic Forceps , 2004 .

[24]  Tayfun Abut,et al.  Motion control in virtual reality based teleoperation system , 2015, 2015 23nd Signal Processing and Communications Applications Conference (SIU).

[25]  K. Natori,et al.  Analysis and Design of Time Delayed Control Systems with Communication Disturbance Observer , 2007, 2007 IEEE International Symposium on Industrial Electronics.

[26]  Mahdi Tavakoli,et al.  Adaptive Control for State Synchronization of Nonlinear Haptic Telerobotic Systems with Asymmetric Varying Time Delays , 2012, J. Intell. Robotic Syst..

[27]  Shuxiang Guo,et al.  Development of a Novel Tele-rehabilitation System , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[28]  Dongjun Lee,et al.  Passive Bilateral Teleoperation With Constant Time Delay , 2006, IEEE Transactions on Robotics.

[29]  Jean-Jacques E. Slotine,et al.  Adaptive manipulator control: A case study , 1988 .