Position drift compensation in time domain passivity based teleoperation

Artigas, Jordi; Ryu, Jee-Hwan; Preusche, Carsten

doi:10.1109/iros.2010.5652691

Cited by 37 publications

(47 citation statements)

References 11 publications

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“…The transparency of teleoperation (similarity between operator and remote environment force) in the power-based TDPA, with or without r-passivity, is however degraded as compared to bilateral teleoperation using the energy-based TDPA [13], [24]. This conservatism in the power-based TDPA is because active behavior is never allowed, as opposed to the energy-based TDPA, where some active behavior is allowed until net stored energy in the system has been exhausted.…”

Section: Discussionmentioning

confidence: 99%

Position Synchronization in Bilateral Teleoperation Under Time-Varying Communication Delays

Chawda

O’Malley

2015

IEEE/ASME Trans. Mechatron.

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Passivity-based approaches to bilateral teleoperation sacrifice performance to achieve robust stability against timevarying delays. Typically, force and velocity signals are exchanged in passivity-based bilateral teleoperation resulting in good velocity tracking, but may accrue a position drift. Recently, a power-based time domain passivity approach (TDPA) was proposed to passivate the communication channel in bilateral teleoperation with time-varying delays, which has the potential to be less conservative than other time-invariant passivity-based approaches. Several approaches have been proposed to address the problem of position drift in time-invariant passivity-based approaches to bilateral teleoperation, but the problem of position drift with powerbased TDPA remains unsolved. We propose a feedback passivitycontrol-based scheme to achieve position synchronization in bilateral teleoperation with power-based TDPA. Our proposed method encodes position information with velocity to construct a composite signal, which is transmitted across the communication channel to attain position tracking. The proposed method utilizes time delay power network formulation, enabling extension to positionmeasured force bilateral teleoperation scheme. Simulations and experiments conducted on a custom one degree of freedom teleoperation setup demonstrate robust position tracking performance with our approach under time-varying communication delays and remote environment conditions.

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Section: Discussionmentioning

confidence: 99%

Position Synchronization in Bilateral Teleoperation Under Time-Varying Communication Delays

Chawda

O’Malley

2015

IEEE/ASME Trans. Mechatron.

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“…The A position drift compensation scheme for teleoperation under TDPA was proposed in [15], which described an approach based on injecting energy to compensate the position drift. The approach proposed in this paper also uses the idea of injecting energy, but with some key differences.…”

Section: Discussionmentioning

confidence: 99%

“…A new IEEE Haptics Symposium 2014 23-26 February, Houston, Tx, USA 978-1-4799-3131-6/14/$31.00 ©2014 IEEE signal encoding position information with velocity was proposed in [13] and [14] to be sent over the communication channel instead of plain velocity signal. In [15], an energy injection based scheme was proposed to compensate position drift in TDPA based bilateral teleoperation control, where additional energy is injected whenever passivity gaps are presented by the communication channel to emulate lossless communication.…”

Section: Communication Delaysmentioning

confidence: 99%

Compensating position drift in Time Domain Passivity Approach based teleoperation

Chawda

Quang

O’Malley

et al. 2014

2014 IEEE Haptics Symposium (HAPTICS)

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Passivity based approaches to bilateral teleoperation control ensure robust stability against disruptive effects of communication delays. These approaches, while achieving velocity tracking, cannot guarantee position tracking in general. Recently, the Time Domain Passivity Approach (TDPA) has been gaining interest in field of bilateral teleoperation due to its simplicity, ease of implementation, robustness to communication delays, and adaptive control design which promises less conservative performance than frequency domain passivity approaches. Several techniques have been proposed to counter the position drift with conventional passivity based approaches, but not much work has been done to address the problem of position drift with TDPA based control of teleoperation. We propose a novel position drift compensation architecture employing a virtual dependent energy source which leverages the passivity margins allowed by the communication channel to inject energy and recover position tracking without compromising system passivity. A drift compensation scheme is developed within this architecture that ensures synchronization of master and slave robot trajectories. The proposed method is generalizable to all bilateral teleoperation control architectures, and is robust against different communication delay and remote environment conditions. Experiments are conducted to validate the efficacy of the approach, and demonstrate position tracking with up to 1000 ms round-trip delays in free space motion and hard wall contact scenarios.

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“…Sometimes the required force sensing is avoided and instead the force exerted by the control algorithm at the slave side is reflected to the user, e.g. (Artigas et al, 2010a). …”

Section: Bilateral Controlmentioning

confidence: 99%

“…Extended implementations of the TDPC algorithm to allow for time delays were proposed by Ryu and Preusche (2007), Ryu et al (2010), and Artigas et al (2007Artigas et al ( , 2010a. Other approaches that maintain passive behavior of time-delayed telemanipulation systems in the time domain were introduced by Lee and Huang (2010) and .…”

Section: Introductionmentioning

confidence: 99%

Control of haptic interaction : an energy-based approach

Franken¹

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Position drift compensation in time domain passivity based teleoperation

Cited by 37 publications

References 11 publications

Position Synchronization in Bilateral Teleoperation Under Time-Varying Communication Delays

Position Synchronization in Bilateral Teleoperation Under Time-Varying Communication Delays

Compensating position drift in Time Domain Passivity Approach based teleoperation

Control of haptic interaction : an energy-based approach

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