Bilateral teleoperation with reducing wave-based reflections

Abstract

This paper presents a wave-based bilateral teleoperation structure to reduce the wave reflection and enhance the force and speed tracking performance through adjusting the relative parameters. A time domain passive approach is also applied to deal with the passivity of whole system even with non passive environment. The efficiency of the proposed method is confirmed by some experimental results.

Keywords

Teleoperation / Wave variable / Passivity

References

[1] Anderson R, Spong M (1989) Asymptotic stability for force reflecting teleoperators with time delay. In: Proceedings of IEEE international conference on robotic automation, pp 1618–1625

[2] Anderson R, Spong M. Bilateral control of teleoperators with time delay. IEEE Trans Autom Control, 1989, 34(5): 494-501.

[3] Niemeyer G, Slotine J. Stable adaptive teleoperation. IEEE J Ocean Eng, 1991, 16(1): 152-162.

[4] Hokayem PF, Spong MW. Bilateral teleoperation: an historical survey. Automatica, 2006, 42(2): 2035-2057.

[5] Tian D, Yashiro D, Ohnishi K. Haptic transmission by weighting control under time-varying communication delay. IET Control Theory, 2012, 6(3): 420-429.

[6] Kenji N, Toshiaki T, Kouhei O. Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay. IEEE Trans Ind Electron, 2010, 57(3): 1050-1062.

[7] Nuno E, Basanez L, Ortega R, et al. Position tracking for nonlinear teleoperators with variable time delay. J Robot Res, 2009, 28(7): 895-910.

[8] Kawashima K, Tadano K, Wang C et al (2009) Bilateral teleoperation with time delay using modified wave variable based controller. In: Proceedings of IEEE international conference on robotic automation, pp 4326–4331

[9] Chopra N, Berestesky P, Spong MW. Bilateral teleoperation over unreliable communication networks. IEEE Trans Control Syst Technol, 2008, 16(2): 304-313.

[10] Huijun L, Aiguo S. Virtual-environment modeling and correction for force reflecting teleoperation with time delay. IEEE Trans Ind Electron, 2008, 16(2): 304-313.

[11] Bate L, Cook CD, Li Z. Reducing wave-based teleoperator reflections for unknown environments. IEEE Trans Ind Electron, 2011, 58(2): 392-397.

[12] Blake H, Jee HR. Time-domain passivity control of haptic interfaces. IEEE Trans Robot Autom, 2002, 18(1): 1-10.