Direct Force-Reflecting Two-Layer Approach for Passive Bilateral Teleoperation With Time Delays

Abstract

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Asymmetric Bilateral Telerobotic System With Shared Autonomy Control

“…The first point with order 1 o i has its position t1 X dri and orientation o1 X dri , and the second point with order 2 o i has its position t2 X dri and orientation o2 X dri . Equations (6) and (7) determine that when the robot's current position t X si is in the interval between t1 X dri and t2 X dri , an orientation oi X r can be derived by the variable gains δ d1 and δ d2 , which can smoothly vary inside the interval between o1 X dri and o2 X dri . Therefore, we can get a reference orientation in continuous Algorithm 2 Desired Orientation Generalization (DOG) 1.…”

“…As an extension of teleoperation, bilateral teleoperation denotes that the master haptic device is manipulated by an operator to control the remote slave robot, and meanwhile, the master receives information from the slave robot to enhance the operator's perception about the remote environment. Currently, the majority of existing studies of bilateral teleoperation focus on time delay based stability [7]- [10], motion synchronization [11]- [13], force reflection [14]- [16], and system modelling and uncertainties compensation [17], [18]. When directly applying the above approaches to an Asymmetric Bilateral Teleoperation (ABT), the problem, however, arises that a great workload is placed on the human operator [19].…”

Single Master Bimanual Teleoperation System With Efficient Regulation

“…Current applied force of slave2 F re2 . Note that the recorded values t1 X re2 , t1 X red2 and F re2 , calculated by (15), are used as constants during the coupled motion.…”

“…A particular subset of teleoperation research considers bimanual teleoperation, which allows the operator to remotely drive a dual-arm robot, which can improve efficacy, precision, dexterity, loading capacity and handling capability [9], [10]. Currently, bimanual teleoperation has a wide variety of applications, including handling toxic and hazardous materials, robotic rehabilitation, underwater exploration and telesurgery [11]- [15].…”

The Effect of Controller Design on Delayed Bilateral Teleoperation Performance: An Experimental Comparison

“…Especially in the presence of delays, the operator may not be able to bring and keep the slave in contact with the environment. Typically, the master recoils violently, dragging the slave along with it [14]. Stable slave-environment interaction can be achieved by, e.g., damping injection, as will be illustrated in Sections III and IV.…”