Application of wave-variable control to bilateral teleoperation systems: A survey

Sun, Da; Naghdy, Fazel; Du, Haiping

doi:10.1016/j.arcontrol.2014.03.002

Cited by 94 publications

(45 citation statements)

References 58 publications

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“…The 4-CH architecture is applied in the conventional wave-based system in [34] to enhance the system transparency under constant delays. A detailed survey of the wave-based approaches is provided in [17]. However, to our best knowledge, none of the above wave-based systems have addressed all of the existing problems in the wave variable transformation.…”

Section: Introductionmentioning

confidence: 98%

Wave-Variable-Based Passivity Control of Four-Channel Nonlinear Bilateral Teleoperation System Under Time Delays

Sun

Naghdy

2016

IEEE/ASME Trans. Mechatron.

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An innovative wave-based Time Domain Passivity Approach (TDPA) applied to a four-channel (4-CH) nonlinear teleoperation system is proposed. The primary objective of this approach is to enhance system transparency while maintaining stability in the presence of random time delays. The system stability for different scenarios of human and environment condition is analyzed. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the system stability and simultaneously provide better performance than methods developed in previous work.

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Section: Introductionmentioning

confidence: 98%

Wave-Variable-Based Passivity Control of Four-Channel Nonlinear Bilateral Teleoperation System Under Time Delays

Sun

Naghdy

2016

IEEE/ASME Trans. Mechatron.

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“…The author is with Department of Mechanical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand phongsaen.p@chula.ac.th controller can generate. Recent literature review on the wave variable approach was reported in [8].…”

Section: Introductionmentioning

confidence: 98%

Control of time-varying delayed teleoperation system using corrective wave variables

Pitakwatchara

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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A novel control scheme based on wave variables for controlling the teleoperation system over the time-varying delayed communication is proposed. Regarding to the symmetric wave teleoperation control layout, the control is achieved by adjusting the wave variables based on the difference between the desired and the fictitious position, which is obtained from integrating the non-distorted wave variables. The resulting wave is then applied to the master/slave robots controlled with local PD controller. By this control scheme, the system is stable and the position difference of the master and slave is proven to converge to zero in the free motion case if the time delay is continuously differentiable. In addition, the slave-environment interaction force is reflected to the operator precisely when the static contact is made during steady time delay. This control scheme can readily be extended to the implementation of the teleoperation system in full task space SO (3) × R 3 .

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“…[7][8][9] Passivity-based control schemes, such as scattering transformation and wave variables, have been proposed to cope with time delays. 10,11 However, position drifts resulting from the mismatch of initial position and the presence of time-varying delays degrade the position tracking of bilateral teleoperators. 12,13 Subsequently, control frameworks with explicit position feedback and adaptive synchronization have been proposed to improve position coordination between the slave and master robots.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear bilateral teleoperators under event‐driven communication with constant time delays

Liu

2019

Intl J Robust & Nonlinear

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Bilateral teleoperation systems provide a platform for human operators to remotely manipulate slave robots in engaging various tasks in remote environments. Most of the previous studies in bilateral teleoperation were developed under continuous transmission or periodic communication with fixed data exchanging rates. This paper presents control schemes for bilateral teleoperation systems using nonperiodic event-driven communication. By using P-like and PD-like controllers, this study proposes triggering conditions for teleoperators to reduce network access frequency so that robots only transmit output signals when necessary. Stability and position tracking of the control system are studied, and nonzero minimum interevent time is guaranteed. The proposed event-driven teleoperation is studied with a velocity estimator to avoid the requirement of velocity information in the controller and triggering condition. Without velocity measurements, the boundedness of tracking errors and stability are ensured for teleoperation systems under event-driven communication.Simulations and experiments are illustrated to validate the performance of the proposed event-driven teleoperation systems.

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Application of wave-variable control to bilateral teleoperation systems: A survey

Cited by 94 publications

References 58 publications

Wave-Variable-Based Passivity Control of Four-Channel Nonlinear Bilateral Teleoperation System Under Time Delays

Wave-Variable-Based Passivity Control of Four-Channel Nonlinear Bilateral Teleoperation System Under Time Delays

Control of time-varying delayed teleoperation system using corrective wave variables

Nonlinear bilateral teleoperators under event‐driven communication with constant time delays

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