Stable Bilateral Teleoperation With Bounded Control

This paper studies a problem of bilateral teleoperation in the presence of asymmetric communication delays, in the case when there is a controller saturation constraint on both the local and remote manipulators. Stability under time delays has been a key challenge in the control of a teleoperation system, and several controllers, mostly based on the concept of passivity, have been proposed over the past two decades. The recently proposed controllers with damping injection improve tracking performance in addition to guaranteeing stability, due to explicit position information in the controller. These results are extended in the case of manipulators that can only produce bounded joint torques for coordination and force reflection. Sufficient conditions for guaranteeing stability and tracking are provided under such a controller restriction. The proposed scheme is validated by experiments on two three degrees of freedom manipulators.

[1]  Mark W. Spong,et al.  Bilateral teleoperation: An historical survey , 2006, Autom..

[2]  Mark W. Spong,et al.  Asymptotic Stability for Force Reflecting Teleoperators with Time Delay , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[3]  Romeo Ortega,et al.  Passivity-based control for bilateral teleoperation: A tutorial , 2011, Autom..

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

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

[6]  Romeo Ortega,et al.  On tracking performance in bilateral teleoperation , 2006, IEEE Transactions on Robotics.

[7]  Di-Hua Zhai,et al.  Robust saturation-based control of bilateral teleoperation without velocity measurements , 2015 .

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

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

[10]  S. Hirche,et al.  Telepresence control in packet switched communication networks , 2004, Proceedings of the 2004 IEEE International Conference on Control Applications, 2004..

[11]  Di-Hua Zhai,et al.  Finite-Time Control of Teleoperation Systems With Input Saturation and Varying Time Delays , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[12]  Nikita Barabanov,et al.  Position and force tracking in bilateral teleoperation , 2004 .

[13]  J.-J.E. Slotine,et al.  Transient shaping in force-reflecting teleoperation , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[14]  Emmanuel Nuno,et al.  Operational space consensus of multiple heterogeneous robots without velocity measurements , 2014, J. Frankl. Inst..

[15]  Giulio Rosati,et al.  Design and Construction of a Bilateral Haptic System for the Remote Assessment of the Stiffness and Range of Motion of the Hand , 2016, Sensors.

[16]  Yuanqing Xia,et al.  Adaptive Control for Teleoperation System With Varying Time Delays and Input Saturation Constraints , 2016, IEEE Transactions on Industrial Electronics.

[17]  Mahdi Tavakoli,et al.  Teleoperation in the presence of varying time delays and sandwich linearity in actuators , 2013, Autom..

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

[19]  Omar Andres Daud.  Haptic Systems for Post-Stroke Rehabilitation: from Virtual Reality to Remote Rehabilitation , 2011 .

[20]  Mark W. Spong,et al.  Bilateral Teleoperation Over Unreliable Communication Networks , 2008, IEEE Transactions on Control Systems Technology.

[21]  Mark W. Spong,et al.  PASSIVATION OF FORCE REFLECTING BILATERAL TELEOPERATORS WITH TIME VARYING DELAY , 2002 .

[22]  Hyo-Sung Ahn,et al.  A study on bilateral teleoperation with input saturation and systems , 2011, 2011 11th International Conference on Control, Automation and Systems.

[23]  Hyo-Sung Ahn,et al.  Synchronization of bilateral teleoperation systems with input saturation , 2010, ICCAS 2010.

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

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

[26]  Changchun Hua,et al.  Output-Feedback Adaptive Control of Networked Teleoperation System With Time-Varying Delay and Bounded Inputs , 2015, IEEE/ASME Transactions on Mechatronics.