scholarly journals Adaptive Task-Space Synchronization Control of Bilateral Teleoperation Systems With Uncertain Parameters and Communication Delays

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 5740-5748 ◽  
Author(s):  
Yuling Li ◽  
Yixin Yin ◽  
Dezheng Zhang
Keyword(s):  
Synchronization Control ◽  
Uncertain Parameters ◽  
Communication Delays ◽  
Bilateral Teleoperation ◽  
Task Space ◽  
Teleoperation Systems

Task-Space Synchronization of Networked Mechanical Systems With Uncertain Parameters and Communication Delays

2017 ◽  
Vol 47 (8) ◽  
pp. 2288-2298 ◽  
Author(s):  
Bin Zhang ◽  
Yingmin Jia ◽  
Fumitoshi Matsuno ◽  
Takahiro Endo
Keyword(s):  
Mechanical Systems ◽  
Uncertain Parameters ◽  
Communication Delays ◽  
Task Space

Task-space bilateral teleoperation systems for heterogeneous robots with time-varying delays

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2065-2082 ◽  
Author(s):  
Yen-Chen Liu
Keyword(s):  
Control System ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Task Space ◽  
Task Control ◽  
Time Varying Delay ◽  
Heterogeneous Robots ◽  
Remote Environment ◽  
Teleoperation Systems ◽  
Varying Delay

SUMMARYThis paper proposes control algorithms for heterogeneous teleoperation systems to guarantee stability and tracking performance in the presence of time-varying communication delays. Because robotic manipulators, in most applications of bilateral teleoperation systems, interact with a human operator and remote environment on the end-effector, the control system is developed in the task-space. When the dynamic parameters of the robots are unknown and the communication network is subject to time-varying delay, the developed controller can ensure stability and task-space position tracking. Additionally, if the robotic systems are influenced by human and environmental forces, the presented teleoperation control system is demonstrated to be stable and all signals are proven to be ultimately bounded. By employing the redundancy of the slave robot for sub-task control, the proposed teleoperation system can autonomously achieve additional missions in the remote environment. Numerical examples utilizing a redundant planar robot are addressed to validate the proposed task-space teleoperators with time-varying delay.

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