scholarly journals Restriction Space Projection method for position sensor based force reflection of multi degrees-of-freedom bilateral teleoperation systems in unstructured environments

2010 ◽  
Author(s):  
Keehoon Kim ◽  
Wan Kyun Chung ◽  
M Cenk Çavuşoğlu
Keyword(s):  
Projection Method ◽  
Degrees Of Freedom ◽  
Position Sensor ◽  
Bilateral Teleoperation ◽  
Unstructured Environments ◽  
Space Projection ◽  
Force Reflection ◽  
Teleoperation Systems

scholarly journals Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication

Robotica ◽  
2015 ◽  
Vol 35 (5) ◽  
pp. 1121-1136 ◽  
Author(s):  
Emre Uzunoğlu ◽  
Mehmet İsmet Can Dede
Keyword(s):  
Time Delays ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Test Results ◽  
Bilateral Teleoperation ◽  
Extended Version ◽  
Teleoperation System ◽  
Teleoperation Systems ◽  
Three Degrees Of Freedom

SUMMARYIn this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.

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.

Design of a Novel Parallel Mechanism for Haptic Device

2021 ◽  
pp. 1-63
Author(s):  
Jin Lixing ◽  
Duan Xingguang ◽  
Li Changsheng ◽  
Shi Qingxin ◽  
Wen Hao ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Architecture ◽  
General Purpose ◽  
Haptic Device ◽  
Haptic Devices ◽  
Modeling And Optimization ◽  
Teleoperation Systems

Abstract This paper presents a novel parallel architecture with seven active degrees of freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization are introduced and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with uncertain mission in complex applications.

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