On Extending the Wave Variable Method to Multiple-DOF Teleoperation Systems

It is well known that providing a human operator with contact force information can significantly improve task performance in a teleoperation system. Unfortunately, time delay is a serious problem for such systems. Even a small time delay in a bilateral teleoperation system will generally degrade the system's performance and cause instability. Consequently, without some form of compensation for time delay, latencies in a teleoperation system would preclude the use of force feedback. Fortunately, there are approaches based on scattering theory and passivity that can compensate for time delay and allow the use of force feedback in teleoperation systems with latencies. In particular, the wave variable method is a passivity-based approach that guarantees stability for any fixed time delay. Since its introduction, the wave variable method has been augmented with predictors to compensate for variable time delay. The wave variable formalism has also been extended to multiple-DOF systems by replacing scalar damping constants with a family of impedance matrices. In this paper, the authors generalize this last approach to include a larger family of impedance matrices. The paper includes a complete derivation of the extended family of impedance matrices as well as simulation and experimental results to illustrate the approach.

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

[2]  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.

[3]  Claudio Melchiorri,et al.  Force reflecting telemanipulators with time-delay: stability analysis and control design , 1998, IEEE Trans. Robotics Autom..

[4]  C.E. Garcia,et al.  Stability analysis for a teleoperation system with time delay and force feedback , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).

[5]  Kazuhiro Kosuge,et al.  Scaled telemanipulation with communication time delay , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[6]  Michael Goldfarb,et al.  A compliant-mechanism-based three degree-of-freedom manipulator for small-scale manipulation , 2000, Robotica.

[7]  Jean-Jacques E. Slotine,et al.  Using wave variables for system analysis and robot control , 1997, Proceedings of International Conference on Robotics and Automation.

[8]  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).

[9]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[10]  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).

[11]  Wayne J. Book,et al.  Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation , 2003 .

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

[13]  Tsuneo Yoshikawa,et al.  Force-reflecting bilateral teleoperation with time delay by signal filtering , 2004, IEEE Transactions on Robotics and Automation.

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

[15]  G. Niemeyer,et al.  High-frequency acceleration feedback in wave variable telerobotics , 2006, IEEE/ASME Transactions on Mechatronics.

[16]  Arjan van der Schaft,et al.  Geometric scattering in robotic telemanipulation , 2002, IEEE Trans. Robotics Autom..

[17]  Li Huijun,et al.  Virtual-Environment Modeling and Correction for Force-Reflecting Teleoperation With Time Delay , 2007 .

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

[19]  Blake Hannaford,et al.  Modeling and stability analysis of a scaled telemanipulation system , 1994, Proceedings of 1994 3rd IEEE International Workshop on Robot and Human Communication.

[20]  P.X. Liu,et al.  A Force-Reflection Algorithm for Improved Transparency in Bilateral Teleoperation With Communication Delay , 2007, IEEE/ASME Transactions on Mechatronics.

[21]  Marc Alise.  Expansion and implementation of the wave variable method in multiple degree-of-freedom systems , 2007 .

[22]  Neal A. Tanner,et al.  High Frequency Acceleration Feedback in Wave Variable Telerobotics , 2005 .

[23]  Mohammad Saghir Munir.  Internet-based teleoperation , 2001 .

[24]  Jean-Jacques E. Slotine,et al.  Towards force-reflecting teleoperation over the Internet , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[25]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

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

[27]  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).

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

[29]  S. Munir,et al.  Internet based teleoperation using wave variables with prediction , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).