Assist Control Method for Positioning Task Using Master-Slave Manipulators with Flexibility on Slave Arm

Morita,; Marumo,; Uchida,; Mori, Taketoshi; Ukai,; Kando,

doi:10.1109/isic.2007.4359804

Cited by 3 publications

(1 citation statement)

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“…However, to the authors knowledge, most of the teleoperator controllers reported until today deal with rigid manipulators. Few exceptions, for linearized teleoperators and without time-delays, are: [11], [12], [13], [14] and [15].…”

Section: Introductionmentioning

confidence: 99%

A proportional plus damping injection controller for teleoperators with joint flexibility and time-delays

Nuño

Sarras

Basañez

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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The problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80's. However, the control of flexible joint manipulators in a bilateral teleoperation scenario is still an open problem. In the present paper we report two versions of a proportional plus damping injection controller that are capable of globally stabilizing a nonlinear bilateral teleoperator with joint flexibility and variable time-delays. The first version controls a teleoperator composed by a rigid local manipulator and a flexible joint remote manipulator and the second version deals with local and remote manipulators with joint flexibility. For both schemes, it is proved that the joint and motor velocities and the local and remote position error are bounded. Moreover, if the human operator and remote environment forces are zero then velocities asymptotically converge to zero and position tracking is established. Simulations are presented to show the performance of the proposed controllers.

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Section: Introductionmentioning

confidence: 99%

A proportional plus damping injection controller for teleoperators with joint flexibility and time-delays

Nuño

Sarras

Basañez

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays

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Valle

Sarras³

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract—It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a bilateral teleoperation\ud scenario, with dynamic gravity compensation, remains an open problem. This work aims at filling this gap by presenting a new controller for bilateral teleoperators composed of a rigid local manipulator and a flexible-joint remote manipulator with\ud dynamic gravity compensation and asymmetric variable timedelays in the communication channel. In order to dynamically compensate the gravity term, in the flexible joint manipulator, a change of coordinates which accounts for the joint and link gravity position drift is used. The rest of the controller is a simple PD scheme. Assuming that the human operator and the environment define passive maps from velocity to force, it is proved that velocities and local and remote position errors are bounded. Additionally, if the human operator and remote environment forces are zero then velocities asymptotically converge to zero and position tracking is established. Some simulations are presented in order to show the performance of the proposed controllers.Postprint (published version

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Leaderless Consensus in Networks of Flexible–Joint Manipulators

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Valle

Sarras

et al. 2014

IFAC Proceedings Volumes

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Assist Control Method for Positioning Task Using Master-Slave Manipulators with Flexibility on Slave Arm

Cited by 3 publications

References 0 publications

A proportional plus damping injection controller for teleoperators with joint flexibility and time-delays

A proportional plus damping injection controller for teleoperators with joint flexibility and time-delays

Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays

Leaderless Consensus in Networks of Flexible–Joint Manipulators

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