Transparent Time-Delayed Bilateral Teleoperation Using Wave Variables

Aziminejad, Arash; Tavakoli, Mahdi; Patel, Rajni V.; Moallem, M.

doi:10.1109/tcst.2007.908222

Cited by 111 publications

(84 citation statements)

References 17 publications

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“…This scheme restricts output flows smaller than input flows by using wave variables. Recently, * Department of System Design Engineering, Keio University 3-14-1, Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan the wave variable scheme has been expanded to four-channel bilateral control system (7) . Time delay compensation method is also useful to treat the time delay system without restricting output flows (8) .…”

Section: Introductionmentioning

confidence: 99%

A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator

Hyodo

Ohnishi

2015

IEEJ Journal IA

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Bilateral control is one of the control methods for teleoperation system. The presence of network delays between a master robot and a slave robot makes the design of bilateral control system challengeable. It seriously deteriorates the performance and possibly makes the system unstable. In this paper, to overcome the destabilization from network delay, the model-free time delay compensator is proposed. The proposed compensator does not utilize time delay model and plant model, but the bilateral control system is stabilized. The stability of the proposed control system is shown by using two flow expression method. Two flow expression method models the master system and the slave system of four-channel bilateral control system as single input and single output system. This method makes the analysis for the stability and the performance of the four-channel bilateral control system simple. The validity of the proposed model-free time delay compensator is confirmed by numerical and experimental results.

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Section: Introductionmentioning

confidence: 99%

A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator

Hyodo

Ohnishi

2015

IEEJ Journal IA

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“…In the experiments, the master and the slave are one degree of freedom (DOF) pneumatic manipulators. It should be noted that this paper does not deal with the presence of time delay in the teleoperation system's communication channel -for time delay compensation in haptic teleoperation, the readers may refer to [16], [17]. Such delay is commonly presented in remote teleoperation systems, but is generally not significant in local teleoperation systems.…”

Section: Introductionmentioning

confidence: 99%

Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves

Pham

Tavakoli

et al. 2013

IEEE Trans. Contr. Syst. Technol.

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Abstract-In past research on the control of pneumatic actuators, typically proportional servovalves have been used for achieving high-performance control of the mass flow rate. In this paper, we instead use fast-switching on/off valves due to their distinct advantages in terms of low cost and small size. Accurate control of pneumatic actuators with on/off solenoid valves is a challenge since the system dynamics is both discrete-input and highly nonlinear. In this paper, we apply a hybrid control algorithm to a pneumatic actuator with on/off valves. Such a control approach is developed for choosing the best control vector at each sample time to track the reference state (i.e., desired force) in the inner force control loop within a bilateral teleoperation system. Experimental results show that good teleoperation transparency is achieved despite all the obstacles such as discrete-input and nonlinear behavior of the pneumatic-actuated teleoperation system.

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“…Note that the classical condition for ideal transparency given in (3.1b) is a specific case of (3.6), where the input-output pairs are velocities and forces. 4 To evaluate the achievable transparency by employing a specific control algorithm, analyze the effect of various components of the teleoperation scheme on the achievable transparency, or even synthesize a controller with a desired level of transparency, it is desirable to have a measure of transparency deviation. In general, however, achieving ideal transparency, as given in Definition 3.2 may not be necessary or desirable to accomplish a task.…”

Section: Definition 32 Ideal Transparencymentioning

confidence: 99%

“…4 If a fast inner-loop observer for the rotational dynamics is assumed, the state space representation of the dynamics of the aerial robot used for observation can be given as a second order decoupled dynamics along each DOF, as follows:…”

Section: Sliding-mode Observermentioning

confidence: 99%

“…The field encompasses telemanipulation of linear and nonlinear systems [93], real and virtual systems [12], [74], single and multidimensional robots [29], kinematically similar and dissimilar master and slave robots [23], [101], at different scales [99] with and without the presence of non-negligible network-induced imperfections, such as time-varying delays and packet losses [12], [4]. Their application ranges from space [106] to medical surgery [112], and includes production, security, virtual environment, and underwater robotics [31].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

On autonomous and teleoperated aerial service robots

Mersha¹

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Transparent Time-Delayed Bilateral Teleoperation Using Wave Variables

Cited by 111 publications

References 17 publications

A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator

A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator

Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves

On autonomous and teleoperated aerial service robots

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