Time-Delayed Output Feedback Bilateral Teleoperation With Force Estimation for $n$-DOF Nonlinear Manipulators

This brief presents a novel bilateral teleoperation algorithm for n degree of freedom nonlinear manipulators connected through time delays. Central to this approach is the use of second-order sliding mode unknown input observers for estimating the external forces, removing the need for both velocity and force sensors. This leads to a lower-cost hardware setup that provides all of the advantages of a position-force teleoperation algorithm. Stability is guaranteed considering the presence of time delays. Numerical and experimental results are presented.

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

[2]  Kyunghwan Kim,et al.  Sliding-mode-based impedance controller for bilateral teleoperation under varying time-delay , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

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

[4]  Ilia G. Polushin,et al.  Position-Error Based Schemes for Bilateral Teleoperation with Time Delay: Theory and Experiments , 2006, ICMA 2006.

[5]  D. D. Perlmutter,et al.  Stability of time‐delay systems , 1972 .

[6]  V. Utkin,et al.  Sliding mode observers. Tutorial , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[7]  David W. L. Wang,et al.  Time-delayed bilateral teleoperation with force estimation for n-DOF nonlinear robot manipulators , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Luis Govinda García-Valdovinos,et al.  Observer-based Higher-Order Sliding Mode Impedance Control of Bilateral Teleoperation under Constant Unknown Time Delay , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  David W. L. Wang,et al.  Bilateral teleoperation using unknown input observers for force estimation , 2009, 2009 American Control Conference.

[10]  Jean-Jacques E. Slotine,et al.  Telemanipulation with Time Delays , 2004, Int. J. Robotics Res..

[11]  M. Moallem,et al.  Enhanced Transparency in Haptics-Based Master-Slave Systems , 2007, 2007 American Control Conference.

[12]  John M. Daly.  Output Feedback Bilateral Teleoperation with Force Estimation in the Presence of Time Delays , 2010 .

[13]  Leonid M. Fridman,et al.  Second-order sliding-mode observer for mechanical systems , 2005, IEEE Transactions on Automatic Control.