Interest of the dual hybrid control scheme for teleoperation with time delays for proceeding of ISER'95

Reboulet, C.; Plihon, Yann; Brière, Yves

doi:10.1007/bfb0035239

Cited by 13 publications

(13 citation statements)

References 7 publications

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“…In this work a bilateral control architecture extending the concept of dual hybrid teleoperation [13] is implemented for both left and right-sided kinesthetic masterslave subsystems (MSS). The idea underlying dual hybrid teleoperation is that for low environmental impedance 3 Z e , indicating free motion, the master should act as a force source with position sensor, whereas the slave should behave as a position source with force sensor.…”

Section: Structure Adapting Kinesthetic Control Architecturementioning

confidence: 99%

Haptic Telepresent Control Technology Applied to Disposal of Explosive Ordnances: Principles and Experimental Results

Kron¹,

Schmidt²

2005

Proceedings of the IEEE International Symposium on Industrial Electronics, 2005. ISIE 2005.

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This paper presents a novel approach for performing disposal of explosive ordnances by application of bimanual haptic telepresent control technology. For improved task execution the proposed system enables an operator to perceive multimodal feedback, especially detailed kinesthetic feedback, from a remote task environment. Details of a developed experimental setup, comprising a two-handed human system interface and a corresponding two-arm teleoperator, are reported. In particular a novel structure adapting architecture for control of the display and manipulator is introduced. Human-system performance is enhanced by means of stereo visualization of the remote task environment with overlayed Augmented Reality assistance. In addition, an algorithm for avoidance of dangerous manipulator configurations is supported by augmented force feedback. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing execution of demining operations in a remote environment as a highly relevant task scenario.

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Section: Structure Adapting Kinesthetic Control Architecturementioning

confidence: 99%

Haptic Telepresent Control Technology Applied to Disposal of Explosive Ordnances: Principles and Experimental Results

Kron¹,

Schmidt²

2005

Proceedings of the IEEE International Symposium on Industrial Electronics, 2005. ISIE 2005.

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“…If fe = ZeVs, the impedance transmitted to the operator's hand fh = ZthVm is given by z~h = Zmo -a}lze(I + z~IZe)-~ap (19) and, in terms of the parameters in The teleoperation system is transparent if the slave follows the master, i.e., Gp = I for position control and Gp = I/s for rate control, and if Zth is equal to Ze for any environment impedance Ze [15,16,17] (or, alternatively, Zth = Zto + Ze, where Zto is a "tool" impedance, usually taken to be Z,~ [17]). …”

Section: Transparency and Dual Hybrid Teleoperationmentioning

confidence: 99%

“…From (20), it can be seen that the above insures that along very small or very large values of Ze, the transmitted impedance equals that of the master Zm + Cm, which can be set to the minimum or maximum achievable along required directions. This concept of "dual hybrid teleoperation" has been introduced, studied and demonstrated experimentally in [19]. It has been shown that when the geometric constraints for a teleoperation task are known, the master and slave workspaces can be split into dual position-controlled and force-controlled subspaces, and information can be transmitted unilaterally in these orthogonal subspaces, while still providing useful kinesthetic feedback to the operator [19].…”

Section: Zmo -G-]i(z~ -I + Ztol)-lapmentioning

confidence: 99%

“…This concept of "dual hybrid teleoperation" has been introduced, studied and demonstrated experimentally in [19]. It has been shown that when the geometric constraints for a teleoperation task are known, the master and slave workspaces can be split into dual position-controlled and force-controlled subspaces, and information can be transmitted unilaterally in these orthogonal subspaces, while still providing useful kinesthetic feedback to the operator [19].…”

Section: Zmo -G-]i(z~ -I + Ztol)-lapmentioning

confidence: 99%

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Evaluation of impedance and teleoperation control of a hydraulic mini-excavator

Salcudean

Tafazoli

Hashtrudi-Zaad

et al. 1998

Experimental Robotics V

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Field applications such as mining, cargo handling, construction and agriculture, offer an alternative view of the future of robotics science. Such applications are characterized by the use of high valued equipment in extremely harsh and demanding environments. On the positive side, the high value of equipment offers the opportunity for deploying sensor and computing technology whose cost would be prohibitive in any other application. Further, the harshness of the environment often provides its own economic arguments for developing and deploying robotic technology. Conversely, the size of machinery and the nature of the environment mean that considerable resources and skills must be employed in any experimental robotics program.The paper by Satcudean et al. describes a position-based impedance controller for a teleoperated hydraulic excavator. A number of key issues in modeling, practical instrumentation and control of a hydraulic machine are addressed in the paper. Extensive results showing bucket contact forces in a ground smoothing application is presented. These particularly show some of the difficulties involved in instrumenting and controlling large hydraulic machinery in unknown environments. The use of a novel six-degree of freedom magnetically-levitated teleoperation master for controlling velocity and forces is also described.Dissanayake et al. describe a semiautomatic container handling crane. The paper describes the modeling and instrumentation of a "Stewart platform" reeved container and crane. Instrumentation includes both rope tension and inertial measurements. Together with a stiffness model of the crane, this information is used to generate anti-sway control signals for the crane. Experimental work on a 1/15th scale model is described.The paper by Durrant-Whyte et al. describes the development of high-integrity navigation systems for large outdoor mobile vehicles. It describes a navigation system structure which permits the analysis and quantification of sensor fault modes and overall system integrity. Results from a navigation system comprising dual GPS/IMU and MMW radar/encoder loops is described, demonstrating an ability to tolerate and recover from single sensor failures. 228Corke describes a semi-automated 3500 tonne dragline. The paper describes the particular difficulties in modeling and controlling very large and poorly understood machines. The instrumentation employed obtains measurements of the state of the machine. The paper also describes the approach taken towards interfacing a partially automated machine with a human operator.Abstract: A position-based impedance controller has been implemented on a mini-excavator. Its performance and an approach to evaluate its stability robustness for given environment impedances are discussed. A dual hybrid teleoperation controller is proposed for machine control. Issues of transparency axe discussed.

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“…To our knowledge, however, a two-channel TOCA—the simplest possible form of TOCAs—has not been proposed yet. Of course, there have been many two-channel control architectures [6]–[12] such as the one using unilateral control approach [6], a compensator-based scheme to enhance transparency [7], [8], and stability-guaranteed schemes under time delay [9], [10]. However, these architectures are unable to achieve transparency [6]–[12], and cannot be classified as TOCAs.…”

Section: Introductionmentioning

confidence: 99%

Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay

Kim¹,

Chang²,

Park³

2013

IEEE Trans. Contr. Syst. Technol.

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This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.

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Interest of the dual hybrid control scheme for teleoperation with time delays for proceeding of ISER'95

Cited by 13 publications

References 7 publications

Haptic Telepresent Control Technology Applied to Disposal of Explosive Ordnances: Principles and Experimental Results

Haptic Telepresent Control Technology Applied to Disposal of Explosive Ordnances: Principles and Experimental Results

Evaluation of impedance and teleoperation control of a hydraulic mini-excavator

Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay

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