scholarly journals An Adaptive Regulator for Space Teleoperation System in Task Space

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Chao Ge ◽  
Weiwei Zhang ◽  
Hong Wang ◽  
Xiaoyi Li
Keyword(s):  
Outer Space ◽  
Joint Space ◽  
Position Tracking ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Task Space ◽  
Teleoperation System ◽  
Accurate Position ◽  
Gravity Signal ◽  
Adaptive Regulator

The problem of the gravity information which can not be obtained in advance for bilateral teleoperation is studied. In outer space exploration, the gravity term changes with the position changing of the slave manipulator. So it is necessary to design an adaptive regulator controller to compensate for the unknown gravity signal. Moreover, to get a more accurate position tracking performance, the controller is designed in the task space instead of the joint space. Additionally, the time delay considered in this paper is not only time varying but also unsymmetrical. Finally, simulations are presented to show the effectiveness of the proposed approach.

scholarly journals Nonlinear bilateral teleoperation using extended active observer for force estimation and disturbance suppression

Robotica ◽  
2014 ◽  
Vol 33 (1) ◽  
pp. 61-86 ◽  
Author(s):  
Linping Chan ◽  
Fazel Naghdy ◽  
David Stirling ◽  
Matthew Field
Keyword(s):  
Position Tracking ◽  
Bilateral Teleoperation ◽  
Force Estimation ◽  
Teleoperation System ◽  
Inertial Parameters ◽  
Disturbance Suppression ◽  
Force Tracking ◽  
Accurate Position ◽  
Teleoperation Systems ◽  
Robot Position

SUMMARYA novel nonlinear teleoperation algorithm for simultaneous inertial parameters and force estimation at the master and slave sides of the teleoperation system is proposed. The scheme, called Extended Active Observer (EAOB), is an extension of the existing active observer. It provides effective force tracking at the master side with accurate position tracking at the slave side in the presence of inertial parameter variation and measurement noise. The proposed method only requires the measurement of robot position, and as a result significantly reduces the difficulty and cost of implementing bilateral teleoperation systems. The approach is described and its stability is analytically verified. The performance of the method is validated through computer simulation and compared with the Nicosia observer-based controller. According to the results, EAOB outperforms the Nicosia observer method and effectively rejects noise.

Bilateral Parallel Force/Position Teleoperation Control

1999 ◽  
Author(s):  
Keyvan Hashtrudi-Zaad ◽  
Septimiu E. Salcudean
Keyword(s):  
Closed Loop ◽  
Position Control ◽  
Position Tracking ◽  
Task Space ◽  
Closed Loop System ◽  
Teleoperation System ◽  
And Performance ◽  
The Stability ◽  
Teleoperation Systems ◽  
Decoupled Systems

Abstract The application of parallel force/position control to teleoperation systems is considered in this paper. Higher priority is given to position control at the master side and to force control at the slave side of the teleoperation system. The stability and performance of the proposed controller is investigated by analyzing the three decoupled systems obtained from projecting the closed-loop system dynamics onto the slave task-space orthogonal directions. Experimental results demonstrate the excellent force and position tracking performance provided by the new controller.

PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2151-2161 ◽  
Author(s):  
E. Slawiñski ◽  
S. García ◽  
L. Salinas ◽  
V. Mut
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Force Feedback ◽  
Robot Motion ◽  
Time Varying ◽  
Control Parameters ◽  
Bilateral Teleoperation ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

SUMMARYThis paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.

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