Bilateral teleoperation under time-varying delay using wave variables

Satler, Massimo; Avizzano, Carlo Alberto; Frisoli, Antonio; Tripicchio, Paolo; Bergamasco, Massimo

doi:10.1109/iros.2009.5354744

Cited by 18 publications

(8 citation statements)

References 27 publications

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“…The method proposed in [18] has been improved adding the wave compensator for the backward direction. The control algorithm has been successfully tested on a exhaustive series of different experimental tasks ranging from free motion tasks to contact tasks (in this last cases both hard contact and soft contact were tested).…”

Section: Discussionmentioning

confidence: 99%

“…In this section, we briefly overview our method for timevarying delay teleoperation proposed in [18]. As seen in section I there are works which extend the original wave variable approach.…”

Section: Proposed Methodsmentioning

confidence: 99%

“…In the previous work [18], the authors have proposed a wave based control scheme that assures stable teleoperation under time-varying delay minimizing the performance degradation as well. However the method considers only one-way delay, we did not discuss about the reverse direction.…”

Section: Introductionmentioning

confidence: 99%

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Energy recovery in time-varying delay teleoperated system using wave-variables

Satler

Avizzano

Frisoli

et al. 2010

19th International Symposium in Robot and Human Interactive Communication

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While control theory for bilateral teleoperation systems under constant time communication delay is well developed, the research on time-varying communication delay systems is still ongoing. Most wave-based approaches proposed in literature to deal with time-varying delay appear too conservative resulting in high degradation from the constant time delay case.We have already proposed a bilateral control scheme with energy balance monitoring over packet switched communication networks. In the previous work, we dealt with a simplify situation where the time-varying was in the communication channel from master to the slave. However, we did not implement and test the system with a more complex scenario in which the delay was in both communication paths. The paper presents a complete bilateral teleoperation control scheme to compensate nonlinearity introduced by an Internet like communication channel. The system implements intelligent strategies to maintain the system passivity while it deals with position drift compensation, packets loss and blackouts management. Experimental results using the proposed control scheme are shown.

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Section: Discussionmentioning

confidence: 99%

Section: Proposed Methodsmentioning

confidence: 99%

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Energy recovery in time-varying delay teleoperated system using wave-variables

Satler

Avizzano

Frisoli

et al. 2010

19th International Symposium in Robot and Human Interactive Communication

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“…The energy methods make the system passive by limiting the output energy. A few papers used energy methods to passify teleoperation systems with variable time delay as in [10,32,47,75,86,89].…”

Section: Energy Methodsmentioning

confidence: 99%

Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation

Zhu

Gueaieb

2012

Autonomous and Intelligent Systems

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In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact.When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller needs to be used in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft).In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller is designed in this text. It simulates human intelligence and adapts the controller to environments of different stiffness coefficients. It is compared to three other classical controllers used in the field of bilateral teleopeartion and demonstrates very interesting potential.ii Acknowledgements First and foremost I'd like to thank God for guiding me into and through this adventure. I have learned much during thesis time.With all my heart, I want to thank my parents for their continuous and unchanging love, care and support.To my dear church family and friends, thank you so much for your prayers, suggestions and encouragements throughout this time! Thank you also for constantly reminding me that thesis is not and should not be the centre of my life.Many thanks to my classmates as well, old and new, for the fun times we had together during my master's degree.I would also like to thank my supervisor Dr. Gueaieb for his support, guidance and help.iii

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“…In [2], the method of integrating the corrected wave was investigated to remove the distortion caused by the transmission of wave variables. A wave variable based control was proposed in [11] to handle the problem in the bilateral time-varying system. Based on this idea, a novel approach was presented for controlling the timevarying delayed teleoperation system with a PD controller [12].…”

Section: Introductionmentioning

confidence: 99%

Teleoperation Control Based on Combination of Wave Variable and Neural Networks

Yang

Wang

et al. 2017

IEEE Trans. Syst. Man Cybern, Syst.

310

169

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Abstract-In this paper, a novel control scheme is developed for a teleoperation system, combining the radial basis function (RBF) neural networks (NNs) and wave variable technique to simultaneously compensate for the effects caused by communication delays and dynamics uncertainties. The teleoperation system is set up with a TouchX joystick as the master device and a simulated Baxter robot arm as the slave robot. The haptic feedback is provided to the human operator to sense the interaction force between the slave robot and the environment when manipulating the stylus of the joystick. To utilize the workspace of the telerobot as much as possible, a matching process is carried out between the master and the slave based on their kinematics models. The closed loop inverse kinematics (CLIK) method and RBF NN approximation technique are seamlessly integrated in the control design. To overcome the potential instability problem in the presence of delayed communication channels, wave variables and their corrections are effectively embedded into the control system, and Lyapunov based analysis is performed to theoretically establish the closed-loop stability. Comparative experiments have been conducted for a trajectory tracking task, under the different conditions of various communication delays. Experimental results show that in terms of tracking performance and force reflection, the proposed control approach shows superior performance over the conventional methods.

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Bilateral teleoperation under time-varying delay using wave variables

Cited by 18 publications

References 27 publications

Energy recovery in time-varying delay teleoperated system using wave-variables

Energy recovery in time-varying delay teleoperated system using wave-variables

Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation

Teleoperation Control Based on Combination of Wave Variable and Neural Networks

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