Accurate force reflection for kinematically dissimilar bilateral teleoperation systems using instantaneous restriction space

2006 ◽  
Author(s):  
Keehoon Kim ◽  
Wan Kyun Chung ◽  
Il Hong Suh
Keyword(s):  
Bilateral Teleoperation ◽  
Force Reflection ◽  
Teleoperation Systems

scholarly journals An enhanced state convergence architecture incorporating disturbance observer for bilateral teleoperation systems

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141988005
Author(s):  
Muhammad Usman Asad ◽  
Umar Farooq ◽  
Jason Gu ◽  
Valentina E Balas ◽  
Ghulam Abbas ◽  
...  
Keyword(s):  
Disturbance Observer ◽  
Model Parameters ◽  
Bilateral Teleoperation ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Teleoperation System ◽  
Convergence Method ◽  
Space State ◽  
Force Reflection ◽  
Teleoperation Systems

To bilaterally control an nth-order teleoperation system modeled on state space, state convergence methodology provides an elegant way to design control gains through a solution of 3 n + 1 equations. These design conditions are obtained by allowing the master–slave error to evolve as an autonomous system and then assigning the desired dynamic behavior to the slave and error systems. The controller, thus obtained, ensures the motion synchronization of master and slave systems with adjustable force reflection to the operator. Although simple to design and easy to implement, state convergence method suffers from its dependence on model parameters, and thus the performance of the controller may degrade in the presence of parametric uncertainties. To address this limitation, we propose to integrate an extended state observer in the existing state convergence architecture which will not only compensate the modeling inaccuracies by treating them as a disturbance but will also provide the estimates of the master and slave states. These estimated states are then used to construct the bilateral controller which is designed by following the method of state convergence. In this case, 2 n + 2 additional design equations are required to be solved to fix the observer gains. To validate the proposed enhancement in the state convergence architecture, simulations and semi-real-time experiments are performed in MATLAB/Simulink environment on a single degree-of-freedom teleoperation system.

Hand controller for bilateral teleoperation of robots

Robotica ◽  
2000 ◽  
Vol 18 (6) ◽  
pp. 677-686 ◽  
Author(s):  
José F. Postigo ◽  
Vicente A. Mut ◽  
Ricardo O. Carelli ◽  
Luis A. Baigorria ◽  
Benjamin R. Kuchen
Keyword(s):  
Laboratory Experiments ◽  
Production Costs ◽  
Robotic Hand ◽  
Bilateral Teleoperation ◽  
Interaction Forces ◽  
Force Reflection ◽  
Human Operators ◽  
Remote System ◽  
Teleoperation Systems ◽  
Lower Production

Teleoperation, one of the oldest areas of robotics, has experienced considerable growth in the last two decades. Main causes for this trend are the need for increased safety levels for human operators and lower production costs. In this work, a three d.o.f. local manipulator (two d.o.f. for force and one d.o.f. for torque) is developed. This hand controller, intended for robot or mobile teleoperation systems, has force reflection in two axes and torque reflection in the third axis. using a robotic hand developed at INAUT as a remote device, laboratory experiments on each axis (one at a time) have shown good results. An impedance controller at the remote system allows one to carry out interactive tasks with the environment such as polishing, insertion and grinding, where it is necessary to control and accommodate the interaction forces and torques in order to avoid hazards for both the manipulated objects and the remote robot.

Evaluation of Rate-Based, Force-Reflecting Teleoperation in Free Motion and Contact

2000 ◽  
Vol 9 (1) ◽  
pp. 25-36 ◽  
Author(s):  
Robert L. Williams ◽  
Jason M. Henry ◽  
Daniel W. Repperger
Keyword(s):  
Task Performance ◽  
Air Force ◽  
Free Motion ◽  
Effectiveness Evaluation ◽  
Task Completion ◽  
Teleoperation System ◽  
Force Reflection ◽  
Teleoperation Systems ◽  
Contact Tasks ◽  
Completion Times

This research focuses on improved control for force-reflecting teleoperation systems in free motion and contact tasks. Specifically, the Naturally Transitioning Rate-to-Force Controller (NTRFC) is implemented in an Air Force experimental force-reflecting teleoperation system to achieve a unified controller with no mode switches from free motion to contact, and to reduce the wrench exerted on the environment by the slave manipulator during remote teleoperation tasks. In an effectiveness evaluation experiment, the experimental hypothesis is validated: the NTRFC with force reflection performs the best amongst four teleoperation control modes with respect to minimal wrench exertion on the environment. A negligible difference was found in total task-completion times amongst the four modes. The NTRFC with force reflection has the potential to improve task performance in remote, hazardous, teleoperation tasks in which minimal exerted wrench is desirable.

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