scholarly journals Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Franco Penizzotto ◽  
Sebastian García ◽  
Emanuel Slawiñski ◽  
Vicente Mut
Keyword(s):  
Mobile Robot ◽  
System Architecture ◽  
Communication Channel ◽  
Force Feedback ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Wheeled Robots ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator’s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed.

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.

scholarly journals Complete Bilateral Teleoperation System for a Rotorcraft UAV with Time-Varying Delay

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Lucio R. Salinas ◽  
Emanuel Slawiñski ◽  
Vicente A. Mut
Keyword(s):  
Linear Matrix ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Human In The Loop ◽  
Time Varying Delay ◽  
Teleoperation System ◽  
Control Scheme ◽  
Rotorcraft Uav ◽  
The Stability ◽  
Delay Dependent

This paper proposes the use of simple proportional plus damping injection (P+d) controllers for delayed bilateral teleoperation of a rotorcraft UAV. The proposed control scheme involves P+d remote and local controllers, considers master and slave dynamics, and takes into account asymmetric time-varying delays. The stability of the proposed teleoperation system is analyzed using Lyapunov-Krasovskii functionals and delay-dependent stability criteria are obtained under linear-matrix-inequalities conditions. The performance of the teleoperation scheme is tested driving a virtual nonlinear 6DOF dynamic model of a minihelicopter in a human-in-the-loop simulation.

scholarly journals Delayed Trilateral Teleoperation of a Mobile Robot

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
D. Santiago ◽  
E. Slawiñski ◽  
V. Mut
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Shared Environment ◽  
Time Varying ◽  
Control Parameters ◽  
Simple Test ◽  
Control Loop ◽  
Teleoperation System ◽  
Human Operators ◽  
The Stability

This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.

Teleoperation of a mobile robot with time-varying delay and force feedback

Robotica ◽  
2011 ◽  
Vol 30 (1) ◽  
pp. 67-77 ◽  
Author(s):  
Emanuel Slawiñski ◽  
Vicente Mut ◽  
Lucio Salinas ◽  
Sebastian García
Keyword(s):  
Mobile Robot ◽  
Force Feedback ◽  
A Priori ◽  
Time Varying ◽  
Prediction System ◽  
Time Varying Delay ◽  
Teleoperation System ◽  
Current Context ◽  
Remote Controller ◽  
Varying Delay

SUMMARYThis paper proposes a prediction system and a command fusion to help the human operator in a teleoperation system of a mobile robot with time-varying delay and force feedback. The command fusion is used to join a remote controller and the delayed user's commands. Besides, a predictor is proposed since the future trajectory of the mobile robot is not known a priori being it decided online by the user. The command fusion and predictor are designed based on the time delay and the current context measured through the crash probability. Finally, the proposed scheme is tested from teleoperation experiments considering time-varying delay as well as force feedback.

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.

A novel multilateral teleoperation scheme with power-based time-domain passivity control

2016 ◽  
Vol 40 (11) ◽  
pp. 3252-3262 ◽  
Author(s):  
Zheng Chen ◽  
Ya-Jun Pan ◽  
Jason Gu ◽  
Shane Forbrigger
Keyword(s):  
Time Domain ◽  
Communication Channel ◽  
Communication Channels ◽  
Bilateral Teleoperation ◽  
Communication Structure ◽  
Remote Operation ◽  
Teleoperation System ◽  
Control Scheme ◽  
Weighting Coefficients ◽  
Teleoperation Systems

Multilateral teleoperation systems, which are extended from the traditional bilateral teleoperation, have become subject to increasing attention in current years, with increasing industrial requirements, such as the remote operation of larger objects and more complex tasks. In this paper, a general multilateral teleoperation control problem is discussed, in which n masters remotely control n slaves through delayed communication channels. A novel communication structure is proposed to satisfy the multiple master–slave communication requirement, in which weighting coefficients are chosen freely to perform the weighted effects of different masters or slaves. Power-based time-domain passivity control is subsequently developed for the complex multiple master–slave communication channel, to achieve the passivity of multilateral teleoperation systems under time delay. Experiments on a teleoperation system with two masters and two slaves are described; the results verify the effectiveness of the proposed control scheme.

Force and Position–Velocity Coordination for Delayed Bilateral Teleoperation of a Mobile Robot

Robotica ◽  
2019 ◽  
Vol 37 (10) ◽  
pp. 1768-1784 ◽  
Author(s):  
E. Slawiñski ◽  
V. Moya ◽  
D. Santiago ◽  
V. Mut
Keyword(s):  
Mobile Robot ◽  
Force Feedback ◽  
General Structure ◽  
Feedback System ◽  
Human Operator ◽  
Bilateral Teleoperation ◽  
Control Scheme ◽  
Communication Time ◽  
Remote Environment ◽  
Novel Model

SummaryThis document proposes a control scheme for delayed bilateral teleoperation of a mobile robot, which it is sought to achieve a coordination of the master device position with the slave mobile robot velocity, and at the same time synchronize the force exerted by the operator with force applied by the environment over the mobile robot. This approach allows the operator to improve the sensitive perception of the remote environment in which the robot navigates while he generates commands to control the mobile robot motion. In this paper, variable and asymmetrical communication time delays are taken into account, as well as a non-passive model of the human operator, for which a novel model is proposed that has a more general structure than the typical ones used to date in the teleoperation field. Furthermore, based on the theoretical analysis presented, the state of convergence in the stationary response is obtained. In addition, an experimental performance evaluation is carried out, where the position–velocity error, force error and the time to complete the task are evaluated. In the tests, a human operator commands a remote mobile robot to push objects of different weight while he perceives the weight of each object through the force feedback system. As an outcome, the theoretical and practical results obtained allow concluding that a satisfactory trade-off between stability and transparency is reached.

scholarly journals Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback

2019 ◽  
Vol 29 (4) ◽  
pp. 681-692 ◽  
Author(s):  
Edgar Estrada ◽  
Wen Yu ◽  
Xiaoou Li
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Human Operator ◽  
Delay Systems ◽  
Bilateral Teleoperation ◽  
Haptic Guidance ◽  
Control Scheme ◽  
The Stability ◽  
Teleoperation Systems ◽  
Whole Systems

Abstract Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.

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.

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