Telemanipulation with Time Delays

Abstract

In this paper we survey the development of the wave variable concept and examine wave-based teleoperation. We study the behavior of force reflecting systems under unknown but constant transmission delays, ranging from periods less than the human reaction time to several seconds. Passive transmission procedures guarantee system stability, but wave reflections and spurious dynamics may interfere with normal operation. Using wave variables for the analysis and implementation, and making appropriate design choices, a system with consistent and predictable behavior is constructed. This design methodology aims to create a virtual tool which accounts for the implicit limitations imposed by the delay. These developments also form the basis for extensions to wave-based prediction and application to variable delays, such as those inherent to Internet-based telemanipulation.

Estimation for torques applied to the master side in a construction robot teleoperation system

“…Secondly, τ r was set to be increased from 0 to 1 and changed 5% per 10 s, and the joystick was pushed to 0.528391 position by the torque meter. Experiment data are "Fixed position" in Figure 8, the black line is the fitting result according to equations (1), (2) and (5), pink dots are the data collected by the torque meter. From two ground data, we can see that the fitting result almost equals to the measured result.…”

“…The slave side is composed of sensors to perceive remote environment, actuators to interact with it, and network channels to communicate with the master side [1]. In the master side, an operator commands the motion of the remote slave robot via a local master joystick [2]. The teleoperation system where the master side operator directly controls the remote robot according to information reflected from the remote environment is more effective and reliable [3].…”

Multi-rate networked control of conic (dissipative) systems

“…However the following system H(s) = (H p (s) + τ ) is indeed passive as it has the following three required properties [7,Theorem 3] [8]- [10]. The digital control network is a hybrid network consisting of both continuous-time wave variables (u p (t), v p (t))) and discretetime wave variables (u c (j), v c (j)) in which j = ⌊ t M Ts ⌋ [5], [6], [11]. The relationships between the continuoustime and discrete-time wave variables is determined by the multi-rate passive sampler (denoted PS : M T s ) and multirate passive hold (denoted PH : M T s ).…”

“…Our approach employs wave variables to transmit information over the network for the feedback control while remaining passive when subject to arbitrary fixed time delays and data dropouts [5], [6]. The primary advantage of using wave variables is that they tolerate most time-varying delays, such as those occurred when using the TCP/IP transmission protocol.…”

On autonomous and teleoperated aerial service robots

“…Many researchers have tried to address these issues since the introduction of teleoperation systems half a century ago [82], [23].…”