Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Abstract

Abstract-A novel approach applying the extended Prescribed Performance Control (PPC) and the wave-based Time Domain Passivity Approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system's passivity is guaranteed in the presence of arbitrary time delays. The system's stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the master-slave system's passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.

Asymmetric Bilateral Telerobotic System With Shared Autonomy Control

“…In (13), φ M,k stands for the terminal cost, which can be freely designed according to different tasks. For example, for pick-and-place tasks, φ M,k can be designed as follows.…”

“…κ gr is a gain to normalize |κ gr F gr,k | to be no more than 1. γ gr ≥ 1 is a positive constant. M in (13) denotes the length of a trajectory vector created by DMP from g t at one keypoint to the next. H denotes the total number of keypoints.…”

“…As an extension of teleoperation, bilateral teleoperation denotes that the master haptic device is manipulated by an operator to control the remote slave robot, and meanwhile, the master receives information from the slave robot to enhance the operator's perception about the remote environment. Currently, the majority of existing studies of bilateral teleoperation focus on time delay based stability [7]- [10], motion synchronization [11]- [13], force reflection [14]- [16], and system modelling and uncertainties compensation [17], [18]. When directly applying the above approaches to an Asymmetric Bilateral Teleoperation (ABT), the problem, however, arises that a great workload is placed on the human operator [19].…”

Type-2 Fuzzy Modeling and Control for Bilateral Teleoperation System With Dynamic Uncertainties and Time-Varying Delays

“…A transparent system with a heavy manipulator is required to provide the operator little force feedback at the free motion stage but to provide the operator a real force feedback when contacting the solid wall so that the operator can accurately determine whether the slave's motion is impeded by the environmental object and then the human force can track the environmental force. The proposed system is compared with a four-channel wave-based teleoperation system that uses Mamdani fuzzy model to estimate the system uncertainties in [28] (System C). Fig.…”

A New Mixed-Reality-Based Teleoperation System for Telepresence and Maneuverability Enhancement

“…With this property, it is widely used in outer space exploration, underwater operation, nuclear reaction and minimally invasive surgery [1]. In recent years, teleoperation has been deeply explored on passivity/stability maintenance [2]- [5], transparency enhancement [6]- [8], haptic feedback [9]- [14] and disturbances compensation [15]- [17]. However, when it comes to the teleoperation control of industrial robots, the practical workspace and Degree of Freedom (DoF) of the master haptic device usually cannot cover those of the industrial robot, due to asymmetrical master-slave robotic mechanical structures.…”