Hostname: page-component-78c5997874-94fs2 Total loading time: 0 Render date: 2024-11-13T09:30:50.920Z Has data issue: false hasContentIssue false
  • English
  • Français

Adaptive force reflecting teleoperation with local force compensators

Published online by Cambridge University Press:  14 February 2007

Yushing Cheung ,
Jae H. Chung  and
Daehie Hong
Yushing Cheung*
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Castle Point on Hudson, Hoboken, NJ 07030, USA
Jae H. Chung
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Castle Point on Hudson, Hoboken, NJ 07030, USA
Daehie Hong
Affiliation:
Department of Mechanical Engineering, Korea University, 5 ga Anam-dong Sungbuk-gu, 136–701 Seoul, Korea
*
*Corresponding author. E-mail: ycheung@stevens.edu
Get access Rights & Permissions [Opens in a new window]

Summary

This paper addresses problems to achieve transparency and contact stability for teleoperation that consists of unconstrained and constrained motions. The adaptive bilateral control with a local force compensator is developed, based on adaptive impedance control and contact force driven compensation with auto-switching functions. Without any knowledge about robotic and environment dynamics and with a communication delay, the developed method guarantees good adaptive tracking performance in unconstrained motion and reduction of oscillating contacts in constrained motion. Based on an actual haptic device and a virtual manipulator, haptic simulations are presented to demonstrate adaptive transparency and contact stability in the presence of communication delay.

Keywords

TeleoperationAuto-switching capacityError recovery
Type
Article
Information
Robotica , Volume 25 , Issue 4 , July 2007 , pp. 433 - 444
Copyright
Copyright © Cambridge University Press 2007

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Handkykken, M. and Turner, T., “Control System Analysis and Synthesis for a Six Degree-of-Freedom Universal Force-Reflecting Hand Controller,” Proceedings of the IEEE Conference on Decision and Control (1980). Albuquerque, New Mexico, pp. 621–628.Google Scholar
2. Hannaford, B. and Anderson, R., “Experimental and Simulation Studies of Hard Contact in Force Reflecting Teleoperation,” Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania (1988) pp. 584–589.Google Scholar
3. Chan, T., Everett, S. and Dubey, S., “Variable Damping Impedance Control of a Bilateral Telerobotic System,” Proceedings of the International Conference on Robotics and Automation, Minneapolis, Minnesota (1996) pp. 2033–2040.CrossRefGoogle Scholar
4. Lee, H. K., Shin, M. H. and Chung, M. J., “Adaptive Controller of Master-Slave Systems for Transparent Teleoperation,” Proceedings of the International Conference on Advanced Robotics, Monterey, California Jul. 7–9, (1997) pp. 1021–1026.Google Scholar
5. Hashtrudi-Zaad, K. and Salcudean, S. E., “Adaptive Transparent Impedance Reflecting Teleoperation,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota Apr. (1996) pp. 1369–1374.CrossRefGoogle Scholar
6. Salcudean, S. E. and Zhu, W. H., “Teleoperation With Adaptive Motion/Force Control,” Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, Michigan May (1999) pp. 1369–1374.Google Scholar
7. Slutski, L. and Schneider, A., “Combining Adaptive Teleoperations With Force Reflection,” Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics 2, Nashville, Tennessee Oct. 8–11, (2000) pp. 1231–1236.CrossRefGoogle Scholar
8. Kim, W. S., Hannaford, B. and Bejcy, A. K., “Force-reflection and shared compliant control in operating telemanipulators with time delay,” IEEE Trans. Robot. Autom. 8 (2) Apr.(1992) pp. 176–185.CrossRefGoogle Scholar
9. Hastrudi-Zaad, K. and Salcudean, S. E., “On the Use of Local Force Feedback for Transparent Teleoperation,” Proceedings of the IEEE International Conference on Robotics and Automation 3, Detroit, Michigan May 10–15, (1999) pp. 1863–1869.CrossRefGoogle Scholar
10. Hashtrudi-Zaad, K. and Salcidean, S. E., “Transparency in time-delayed systems and the effect of local force Feedback for transparent teleoperation,” IEEE Trans. Robot. Autom. 18 (1) Feb. (2002) pp. 108–114.CrossRefGoogle Scholar
11. Love, L. J. and Book, W. J., “Force reflecting teleoperation with adaptive impedance control,” IEEE Trans. Syst., Man Cybern. Part B 34 (1), 159–165 (Feb. 2004).CrossRefGoogle ScholarPubMed
12. Lawrence, D. A., “Designing Teleoperator Architectures for Transparency,” Proceedings of the IEEE International Conference on Robotics and Automation, Nice, France (1992) pp. 1406–1411.Google Scholar
13. Al-Jarrah, O. M. and Zheng, Y. F., “Intelligent Compliant Motion Control,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota Apr. (1996) pp. 2610–2615.CrossRefGoogle Scholar
14. Kennedy, C. W. and Desai, J. P., “Modeling and control of the Mitsubishi PA-10 robot arm,” IEEE/ASME Trans. Mechatronics 10 (3), 263–274 Jun. (2005).CrossRefGoogle Scholar
15. Sensable Technologies, PHANToM Premium 3.0L Pro-duct Literature (http://www.sensable.com/products/datafiles/phantom_ghost/STI_3.0_6DOF_05_2005.pdf).Google Scholar
16. Lawrence, D. A., “Stability and transparency in bilateral teleoperation,” IEEE Trans. Robot. Autom. 9 (5) (Oct. 1993) pp. 624–637.CrossRefGoogle Scholar
17. Yokokohji, Y. and Yoshikawa, T., “Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment,” IEEE Trans. Robot. Autom. 10 (5) (Oct. 1994) pp. 605–620.CrossRefGoogle ScholarPubMed
18. Suomela, S. and Halme, A., “Tele-existence techniques of heavy work vehicles,” Auton. Robots 11 (1) Jul. (2001) pp. 612–631.CrossRefGoogle Scholar
19. Slotine, J. J. E. and , W. Li.“On the adaptive control of robot manipulators,” Int. J. Robot. Res. 6 (3), 49–59 (1987).CrossRefGoogle Scholar
20. Rubio, A., Avello, A. and Florez, J., “Adaptive Impedance Modification of a Master–Slave Manipulator,” Proceedings of the IEEE International Conference on Robotics and Automation 3, Detroit, Michigan May 10–15, (1999) pp. 1794–1799.Google Scholar
21. Ryu, J. H., Kwon, D. S. and Hannaford, B., “Stable Teleoperation With Time-Domain Passivity Control,” IEEE Trans. Robot. Autom. 20 (2), 365–373 Apr.2004.CrossRefGoogle Scholar
22. Ni, L. and Wang, D. W. L., “Contact Transition Stability Ana-lysis for a Bilateral Teleoperation System,” Proceedings of the IEEE International Conference on Robotics and Automation 3, Washington, DC May 11–15, (2002) pp. 3272–3277.Google Scholar