Stable Delayed Bilateral Teleoperation of Mobile Manipulators

Santiago, Diego; Slawiñski, Emanuel; Mut, Vicente

doi:10.1002/asjc.1461

Cited by 19 publications

(15 citation statements)

References 29 publications

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“…A hybrid control approach was presented in the work 8 where a teleoperation control without sensor feedback was realized by applying the torque observers. In the work, 9 the authors proposed a proportional derivative (PD) like scheme to control the velocity of the end-effector of the mobile manipulator and the dynamics control and secondary control actions were achieved in the operational space. In all of the abovementioned research, the control design either deals with the control of a single-mobile manipulator or with the bilateral teleoperation.…”

Section: Introductionmentioning

confidence: 99%

Robust control design for teleoperation of multiple mobile manipulators under time delays

Ahmad

Pan

Shen

2020

Intl J Robust & Nonlinear

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This article addresses a novel multilateral teleoperation control scheme for single-master multiple slave systems, which can be extended to n masters and n slaves without the loss of generality, where the master is a m degrees of freedom (DOF) manipulator arm and the slaves are m DOF mobile manipulators. The human operator operates the master robot to remotely control the slaves handling a target object. The master position signal is transmitted to the slave side to generate a desired object trajectory as well as the reference mobile base velocity. An adaptive robust controller is designed for the slaves to follow the desired trajectory from the master, which not only provides the excellent trajectory tracking but also optimize the internal force distribution of the object. A null space controller is designed for the mobile platforms of the mobile manipulators to achieve the velocity consensus while achieving the main task of object transportation. The novel control design uses the transmission of the environmental force feedback over the communication channel by the estimated parameters of the environment, which helps retain the stability of the overall system. The environmental force is predicted on the master side based on the estimated environmental parameters. The proposed control design can simultaneously achieve the objectives of stability, synchronization, and optimal internal force distribution. The simulation results of a single-master and three slaves teleoperation system validate the efficacy of the proposed control algorithm.

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Section: Introductionmentioning

confidence: 99%

Robust control design for teleoperation of multiple mobile manipulators under time delays

Ahmad

Pan

Shen

2020

Intl J Robust & Nonlinear

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“…Some other challenging applications where dynamic models of (pointing) movements can be relevant include analyses of mouse movements for user identification [6], in robotics for motion planning [7,8] and for human movement estimation [9], e.g. for manipulators teleoperation [10].…”

Section: Introductionmentioning

confidence: 99%

A switched dynamic model for pointing tasks with a computer mouse

Aranovskiy

Ushirobira

Efimov

et al. 2019

Asian Journal of Control

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In this paper, we study one of the most fundamental tasks in human-computer interaction, the pointing task. It can be described simply as reaching a target with a cursor starting from an initial position (e.g. executing a movement using a computer mouse to select an icon). In this paper, a switched dynamic model is proposed to handle cursor movements in indirect pointing tasks. The model contains a ballistic movement phase governed by a nonlinear model in Lurie form and a corrective movement phase described by a linear visual-feedback system. The stability of the model is first established and the derived model is then validated with experimental data acquired in a pointing task with a mouse. It is established that the measured data of pointing movements of different types can be fitted within the proposed model. Numerical comparison against pointing models available in the literature is also provided.

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“…Two Phantoms were used for teleoperation control by the passivity‐based neural network control in . The delayed teleoperation of a mobile manipulator system is evaluated through simulations of human‐in‐the loop internet teleoperation in .…”

Section: Introductionmentioning

confidence: 99%

Teleoperation Control of a Position‐Based Impedance Force Controlled Mobile Robot by Neural Network Learning: Experimental Studies

Choi

Jung

2018

Asian Journal of Control

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Effective haptic performance in teleoperation control systems can be achieved by solving two major problems: the timedelay in communication channels and the transparency of force control. The time-delay in communication channels causes poor performance and even instability in a system. The transparency of force feedback is important for an operator to improve the performance of a given task. This article suggests a possible solution for these two problems through the implementation of a teleoperation control system between the master haptic device and the slave mobile robot. Regulation of the contact force in the slave mobile robot is achieved by introducing a position-based impedance force control scheme in the slave robot. The time-delay problem is addressed by forming a Smith predictor configuration in the teleoperation control environment. The configuration of the Smith predictor structure takes the time-delay term out of the characteristic equation in order to make the system stable when the system model is given a priori. Since the Smith predictor is formulated from exact linear modeling, a neural network is employed to identify and model the slave robot system as a nonlinear model estimator. Simulation studies of several control schemes are performed. Experimental studies are conducted to verify the performance of the proposed control scheme by regulating the contact force of a mobile robot through the master haptic device.

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Stable Delayed Bilateral Teleoperation of Mobile Manipulators

Cited by 19 publications

References 29 publications

Robust control design for teleoperation of multiple mobile manipulators under time delays

Robust control design for teleoperation of multiple mobile manipulators under time delays

A switched dynamic model for pointing tasks with a computer mouse

Teleoperation Control of a Position‐Based Impedance Force Controlled Mobile Robot by Neural Network Learning: Experimental Studies

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