Projection-Based Force-Reflection Algorithms With Frequency Separation for Bilateral Teleoperation

Polushin, Ilia G.; Takhmar, Amir; Patel, Rajni V.

doi:10.1109/tmech.2014.2307334

Cited by 34 publications

(15 citation statements)

References 28 publications

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“…Future research avenues include the extension of this scheme to the teleoperation of mobile manipulators that exhibit nonholonomic restrictions and the inclusion of an adaptive term to deal with the uncertainty in the parameters of the gravity forces. Another future research avenue is the formal stability analysis when intermittent delays appear in communications, as in recent works() for a linear time‐invariant teleoperation system.…”

Section: Discussionmentioning

confidence: 99%

Control of bilateral teleoperators with time delays using only position measurements

Nuño

Arteaga

Espinosa-Pérez

2017

Intl J Robust & Nonlinear

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Summary A major drawback in the control of bilateral teleoperators is time delays. The nature of the communication channel that interconnects the local and the remote manipulators imposes these delays, which can be time‐varying. Several commercially available robots do not incorporate velocity sensors, and velocities are usually estimated using dirty derivatives. In this paper, we are interested in the control of bilateral teleoperators with variable time delays and without requiring velocity measurements. The proposal makes use of a second‐order dynamical controller that backpropagates damping to the local and the remote manipulators. If sufficient damping is injected in the controller and under the common passivity assumption of the human operator and the environment, it is proved that position errors and velocities are bounded. Invoking Barbalat's lemma, when the human and the environment do not inject forces in the system, it is shown that position error and velocities globally asymptotically converge to zero. A simulation comparison with other two control techniques shows the performance of the novel proposal. Experimental results evidence the robustness of the proposed scheme to interconnecting time delays.

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Section: Discussionmentioning

confidence: 99%

Control of bilateral teleoperators with time delays using only position measurements

Nuño

Arteaga

Espinosa-Pérez

2017

Intl J Robust & Nonlinear

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“…exactly the same as transmittance (4). This means that subsystem Slave during free motion task, sends zero value in the force-feedback communication channel.…”

Section: Ideal Master-slave System Transmittance Analysismentioning

confidence: 96%

“…This paper presents a novel approach for designing a control scheme for a master-slave system with force feed-back. The difference between figures presenting sensor methods thus far is that, in the case of the proposed control scheme, there are no sensors mediating between the manipulator body and the environment, relative to paper [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19]. The same thing can be noticed in self-sensing piezo-ceramic microcontrollers used for micromanipulation and in [2,20,28,32,41,[43][44][45][46].…”

Section: Scope Of Studymentioning

confidence: 99%

“…However, as research continued, it was noticed that the operator that enters into interaction with the master subsystem/manipulator should also be able to feel the precise effect of the environment on the slave subsystem side. The problem poses significant challenges in its practical application, due to large distances and the inevitable time delay [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

“…The most recent control scheme developed for bilateral teleoperation with force-feedback was published by Ilia G. Polushin in 2015 [4,37]. This type of algorithm was a modified projection-based forcereflection algorithm, which has been demonstrated to substantially improve stability characteristics of bilateral teleoperators with communication delays.…”

Section: Introductionmentioning

confidence: 99%

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Investigating multiple human performance measures in teleoperation task: A translation task in a tele‐sandblasting maintenance system

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et al. 2017

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In sandblasting tasks for complex steel structure maintenance, teleoperation is required to keep humans away from occupational risk and hazard. On the other hand, teleoperation typically degrades system‐human performances, resulting in poor product quality and must be designed such that the performances remain as high as possible. However, designing the teleoperation system regarding to a single performance measure may lead to an improper design. In this article, we propose two novel loss‐function‐based human‐performance measures to incorporate with a widely used performance measure, movement time, to thoroughly represent performance: unfinished surface and damaged surface. We aim to investigate the effects of two main design parameters, viewing distance and path width. The results show that only path width is significant for overall performances. Furthermore, the effect of gender is significant such that men outperform women in cleaning the surface. Finally, the optimal setting conditions are suggested to achieve their optimal performances.

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Projection-Based Force-Reflection Algorithms With Frequency Separation for Bilateral Teleoperation

Cited by 34 publications

References 28 publications

Control of bilateral teleoperators with time delays using only position measurements

Control of bilateral teleoperators with time delays using only position measurements

S Teleoperation System Based on 1-DOF Pneumatic Maipulator

Investigating multiple human performance measures in teleoperation task: A translation task in a tele‐sandblasting maintenance system

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