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This paper addresses the controller design problem for teleoperation over networks such as the Internet. The forward and backward network transmission time delays are assumed to be asymmetric and time varying, which is the case for computer network communications. We propose a novel master-slave controller, which renders the entire system stable with relatively good steady- and transient-state performances...
This paper presents a delay compensation technique for nonlinear teleoperators by developing a predictor type sliding mode observer (SMO) that estimates future states of the slave operator. Predicted states are then used in control formulation. In the proposed scheme, disturbance observers (DOB) are also utilized to linearize nonlinear dynamics of the master and slave operators. It is shown that utilization...
The Time Domain Passivity Control Approach is gathering interest in the robotics field. Simplicity and flexibility and the fact that system design emerges from ideal cases make it a powerful stability tool for teleoperation systems. Communication time delay is an inherent attribute of nearly every realistic teleoperation system. Unless the communication channel guarantees transmission delays of less...
A three-channel bilateral control system which is hybrid of position control and force control in the acceleration dimension based on disturbance observer gets unstable in contact with environments under time delay. In this control system, the sum of master force and slave force is controlled to zero in common modal space to realize the law of action-reaction. This paper proposes a velocity damping...
In haptic and telemanipulation devices stability and transparency are contradicting requirements. Due to the network delay the control process may become unstable. In our research we consider the coupled impedance type control algorithms for force reflecting telemanipulation. There are several solutions in the control literature to handle constant time delay in feedback systems, but varying delay...
Time delay in bilateral control system seriously deteriorates the performance and stability. A time delay compensation method based on the concept of network disturbance (ND) and communication disturbance obsrver (CDOB) has been proposed and the validity has been verified so far. Time delay compensation by CDOB improves the ??Operationality?? of master robot but simultaneously deteriorates ??Reproducibility??...
This paper introduces a method to realize multilateral teleoperation(multi operator/multi robot teleoperation) under time delay. This method provides stability regardless of the size of the delay and good performance including force feedback. We first introduce the four channel based multilateral control scheme to realize multilateral teleoperation and show using small gain theorem that as in traditional...
This paper analyses the L2 stability of four channel teleoperation systems under time delay. It is a well known fact that four channel architecture provides the best performance when no delay is present on the communication channels. However when delay is present four channel systems can not guarantee stability or good performance. The L2 analysis we present using small gain theorem indeed confirms...
A hybrid remote manipulation system has good transparency between master and slave systems under time delay. In this paper, we propose new adaptive environment observer using time-scale transformation for a hybrid remote manipulation system. Time-scale transformation compensates for nonlinearities in the observer, and we can design parameters of the observer by pole placements. The proposed observer...
The paper addresses the controller design problem for a class of teleoperation systems. The forward and the backward transmission time delays are time-varying and asymmetric. The velocities of the master and slave joints are not available and the precise mathematical robot models are also not known. For dealing with the control problem, we first design a high gain observer to estimate the velocities...
Previous efforts in bilateral time-delay teleoperation have mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. This paper proposes a provably stable adaptive predictive controller for teleoperation systems with communication delay. The method uses the model and delay information and can adapt to uncertainties in user and environment dynamics in order...
Wave variables approach is mostly used due to its conservation to keeping passivity in time delayed teleoperation. On the other hand, excess conservation of passivity results in degraded system performance on environment perception or positional maneuverability. In physical environments waves are reflected, diffracted and refracted. Thus, wave variables approach introduces drifting problem to control...
In minimally invasive telesurgical systems, displaying the forces measured at the slave side is an important issue. Latency in communication lines limits the transmission of vivid tactile sensations and drives the system unstable. In this paper, we propose a new model-based approach for the bilateral control of a telesurgical robot using time-domain passivity control. This method consists of a virtual...
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