Asymptotic stability of teleoperators with variable time-delays

Nuño, Emmanuel; Basañez, Luis; Prada, Miguel A.

doi:10.1109/robot.2009.5152507

Cited by 10 publications

(8 citation statements)

References 27 publications

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“…2 define the basic control loop, based on the impedance strategy, that uses the position input to provide force feedback. The controller is a P+d (proportional plus damping) that was proved to be stable and robust in front of time delays [24]. Moreover, this controller was proven to provide stiff force reflections of the remote environment, and for small timedelays a better transparency than other alternatives.…”

Section: Controlmentioning

confidence: 99%

“…This module is designed to regulate the remote damping of the control system, as a function of the potential collisions with the environment. As demonstrated in [24], the use of the P+d controller guarantees that the velocities and the position error are bounded, provided that the control gains (the proportional and the damping gains at the local and the remote site, K l , B l , K r , B r > 0), are set according to:…”

Section: Reactive Systemmentioning

confidence: 99%

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Haptic Aids for Bilateral Teleoperators

Pérez

Rosell

2014

ROBOT2013: First Iberian Robotics Conference

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Abstract. Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between workspaces, the need to avoid collisions of the teleoperated robot with the environment, and the use of the inverse kinematics and of a procedure to correctly manage the passing through singularities. Within a bilateral teleoperation framework to teleoperate an industrial robot with a desktop haptic device, the present work proposes a guiding system based on path planning techniques to cope with these issues. The proposed system also includes a reactive behavior to cope with the potential collisions with obstacles. Teleoperation tests on virtual and real scenarios are included to validate the approach.

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Section: Controlmentioning

confidence: 99%

Section: Reactive Systemmentioning

confidence: 99%

Haptic Aids for Bilateral Teleoperators

Pérez

Rosell

2014

ROBOT2013: First Iberian Robotics Conference

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“…Li et al proposed a stable bilateral control method under time delay with multiple master arms and one slave arm, 10 but the stability is maintained under the condition that the slave side environment is fixed by the rigid wall. Oboe et al, 11 Nuno et al, [12][13][14][15] and Lee et al 16 dealt with this problem by using a proportional derivative (PD) controller. Rodriguez-Seda et al compared some of the performance of these bilateral teleoperators.…”

Section: Introductionmentioning

confidence: 99%

Performance Improvement of PD-Based Bilateral Teleoperator with Time Delay by Introducing High-Pass Filter

Imaida

Senda

2019

Robotica

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SUMMARYStability is a major problem with bilateral teleoperator when there is a transmission time delay. By adding adequate damping gain into position servo, a stable bilateral control can be achieved under the existence of time delay. However, large damping gain is required to stabilize the system and the performance is degraded. In this paper, the performance improvement by introducing a high-pass filter into a proportional derivative-based teleoperator with time delay has been studied. We proposed new control law and derived the stability condition. We demonstrated the performance improvement using a hybrid matrix, 1-degree of freedom (DOF), 2-DOF simulations, and 2-DOF peg-in-hole experiments.

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“…However, they did not explain the point how the two types of damping gains effect each other, stability and performance. Nuno et al [9,[12][13][14] studied PD controllers. In their research, they stabilized a teleoperator system with a grounded damper gain and relative damper gain.…”

Section: Introductionmentioning

confidence: 99%

Performance improvement of the PD-based bilateral teleoperators with time delay by introducing relative D-control

Imaida¹,

Senda²

2015

Advanced Robotics

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In a force-reflecting bilateral teleoperator with a time delay, teleoperator stability is a serious problem. We have studied a bilateral teleoperator system with a time delay. We obtained stable conditions using proportional derivative-based (PD-based) control law. In this paper, PD-based control law is further studied. First, we study a PD control law with relative damping gain and its stabilizing effect that previously has not been studied quantitatively. A stable condition is derived with this PD-based controller with relative damping gain. Next, teleoperator performance by the PD control law with relative damping is evaluated and compared to PD control laws with only grounded damping using transparency analysis with a hybrid matrix. We showed that, the performance of the PD-based controller can be improved by introducing relative damping gain into the controller. As a controller design example, numerical simulations and 1-DOF experiments were conducted. Finally, peg-in-hole experiments and performance evaluations in realistic multi-DOF environments were conducted to demonstrate performance improvements by introducing the relative damping. A controller design that guarantees both stability and performance was achieved by iterating stable gain setting and performance evaluation.

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Asymptotic stability of teleoperators with variable time-delays

Cited by 10 publications

References 27 publications

Haptic Aids for Bilateral Teleoperators

Haptic Aids for Bilateral Teleoperators

Performance Improvement of PD-Based Bilateral Teleoperator with Time Delay by Introducing High-Pass Filter

Performance improvement of the PD-based bilateral teleoperators with time delay by introducing relative D-control

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