scholarly journals Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

2007 ◽  
Vol 4 (4) ◽  
pp. 157-168
Author(s):  
Juan Manuel Ibarra-Zannatha ◽  
Claudia Marmolejo-Rivas ◽  
Manuel Ferre-Pérez ◽  
Rafael Aracil-Santonja ◽  
Salvador Cobos-Guzmán
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Control Algorithm ◽  
Haptic Device ◽  
Deformable Objects ◽  
Bilateral Teleoperation ◽  
Bilateral Control ◽  
Deformable Object ◽  
Detection Algorithms ◽  
Teleoperation System

The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

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.

Transparency Improvement by External Force Estimation in a Time-Delayed Nonlinear Bilateral Teleoperation System

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
H. Amini ◽  
S. M. Rezaei ◽  
Ahmed A. D. Sarhan ◽  
J. Akbari ◽  
N. A. Mardi
Keyword(s):  
Control Algorithm ◽  
Force Measurement ◽  
Bilateral Teleoperation ◽  
Force Estimation ◽  
Teleoperation System ◽  
Control Scheme ◽  
Environmental Force ◽  
The Stability ◽  
External Forces ◽  
Teleoperation Systems

Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operation, task performance should be accurately considered. The presence of force signals in the control scheme could effectively improve transparency. However, the main restriction is force measurement in micromanipulation scales. A new modified strategy for estimating the external forces acting on the master and slave robots is the major contribution of this paper. The main advantage of this strategy is that the necessity for force sensors is eliminated, leading to lower cost and further applicability. A novel control algorithm with estimated force signals is proposed for a general nonlinear macro–micro bilateral teleoperation system with time delay. The stability condition in the macro–micro teleoperation system with the new control algorithm is verified by means of Lyapunov stability analysis. The designed control algorithm guarantees stability of the macro–micro teleoperation system in the presence of an estimated operator and environmental force. Experimental results confirm the efficiency of the novel control algorithm in position tracking and force reflection.

scholarly journals Haptic manipulation of deformable objects in hybrid bilateral teleoperation system

2008 ◽  
Vol 4 (4) ◽  
pp. 157-168
Author(s):  
Juan Manuel Ibarra-Zannatha ◽  
Claudia Marmolejo-Rivas ◽  
Manuel Ferre-Pérez ◽  
Rafael Aracil-Santonja ◽  
Salvador Cobos-Guzmán
Keyword(s):  
Deformable Objects ◽  
Bilateral Teleoperation ◽  
Teleoperation System

Design of a New Impedance Controller for a Time Delay Teleoperation System

2013 ◽  
Vol 392 ◽  
pp. 355-360
Author(s):  
Young Won Chang ◽  
Olga Kostiyukova ◽  
Kil To Chong
Keyword(s):  
Time Delays ◽  
Position Control ◽  
Control Architecture ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Bilateral Control ◽  
Single Degree Of Freedom ◽  
Teleoperation System ◽  
The Stability ◽  
Teleoperation Systems

Bilateral teleoperation systems connected to computer networks such as the internet have to deal with varying time delays depending on several factors such as congestion, bandwidth, or distance. Such systems can easily become unstable due to irregular or varying time delays. A passivity concept has been used as the framework to solve the stability problem in bilateral control of teleoperation systems and we demonstrate in this paper how to recover both passivity and tracking performance using a novel control architecture that incorporates time varying gains into the transmission path, feedforward, and feedback position control. Simulation results for a single-degree of freedom master/ slave system are presented which demonstrates the performance of the resulting control architecture.

scholarly journals Using VPS (VoxMap Pointshell) as the Basis for Interaction in a Virtual Assembly Environment

2003 ◽  
Author(s):  
Chang E. Kim ◽  
Judy M. Vance
Keyword(s):  
Virtual Environment ◽  
Collision Detection ◽  
Virtual Assembly ◽  
Performance Tests ◽  
Excellent Performance ◽  
Detection Algorithms ◽  
Dynamic Part ◽  
Projection Screen ◽  
Interaction Modeling

Realistic part interaction is an important component of an effective virtual assembly application. Both collision detection and part interaction modeling are needed to simulate part-topart and hand-to-part interactions. This paper presents a comparison of several common collision detection algorithms and examines the VoxMap Pointshell (VPS) method as it is used in an application to evaluate proposed assembly methods. Results from several performance tests on VPS are presented. VPS was found to provide realistic collisions and physicallybased modeling interaction with excellent performance. This paper concludes by presenting how VPS has been implemented to handle multiple dynamic part collisions and two-handed assembly using the 5DT dataglove in a projection screen virtual environment.

Implementation and evaluation of a model processing pipeline for assembly simulation

2017 ◽  
Vol 37 (4) ◽  
pp. 400-410 ◽  
Author(s):  
Robert Iacob ◽  
Diana Popescu ◽  
Frederic Noel ◽  
Cedric Masclet
Keyword(s):  
Real Time ◽  
Virtual Environment ◽  
Collision Detection ◽  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Haptic Device ◽  
Performance Criteria ◽  
Stereoscopic Display ◽  
Content Type ◽  
Processing Pipeline

Purpose The paper aims to present the processing pipeline of an assembly immersive simulation application which can manage the interaction between the virtual scene and user using stereoscopic display and haptic devices. A new set of elements are integrated in a Collaborative Virtual Environment (CVE) and validated using an approach based on subjective and objective users’ performance criteria. The developed application is intended for Assembly/Disassembly (A/D) analysis, planning and training. Design/methodology/approach A mobility module based on contact information is used to handle the assembly components’ movements through real-time management of collision detection and kinematically constraint guidance. Information on CVE architecture, modules and application configuration process are presented. Impact of device type (3 degrees of freedom (DoFs) vs 6 DoFs) over user’s experience is evaluated. Parameters (number of assembled components and components assembly time) are measured for each user and each haptic device, and results are compared and discussed. Findings Test results proved the efficiency of using a mobility module based on predefined kinematic constraints for reducing the complexity of collision detection algorithms in real-time assembly haptic simulations. Also, experiments showed that, generally, users performed better with 3 DoFs haptic device compared to 6 DoFs haptic equipment. Originality/value The proposed immersive application automates the kinematical joints inference from 3D computer-aided design (CAD) assembly models and integrates it within a haptic-based virtual environment, for increasing the efficiency of A/D process simulations.

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