The sharing of skills over the Internet enables professionals to democratize their expertise and skills without exhausting their availability, e.g., through excessive traveling. To enable this Internet of Skills, we present a novel Digital Twin (DT) platform for the remote control of machines with human-in-the-loop. The DT of a remotely controlled machine acts effectively as an inter-layer between the operator and the controlled machine, e.g., robot arm. The DT can be optimized for a particular application to interact with the operator with an intuitive low-latency interface and, on other side, to control and monitor the quality of the remote task. Essentially, the human operator controls the DT, while the DT controls the remote robot. This paper introduces the DT framework for the remote control. The human-machine-human control loop is split into Virtual Reality (VR), remote control, and robot control loops. The proposed framework achieves low latency visual feedback and very short system reaction times for unexpected changes with arbitrary distances between operator and robot. Within the DT framework, this paper proposes a robot control algorithm for controlling time-critical robot applications over networks with considerable delays and jitter. The proposed framework has been implemented in a demonstrator with a robot arm and its DT in VR.

Remote Robot Control with Human-in-the-Loop over Long Distances Using Digital Twins

The article presents analysis on construction of two-stage remote control for space robots. This control ensures efficiency of the robot control system at large delays in transmission of control signals from the ground control center to the local control system of the space robot. The conditions for control stability of and high transparency are found.

Dynamic Analysis of Space Robot Remote Control System

In the paper the authors propose a method of bilateral control for space robotic manipulators construction with large delays in transmissions of control signals from the Earth to the local space manipulator’s control system.

Bilateral remote control over space manipulators

In this paper the stabilization problems of program motion of objects with elastically connected elements are considered. The conditions for stabilizing a program motion ×=0 of the control object are given.

Stabilization of the program motion of control object with elastically connected elements

About stability of selector linear differential inclusions

In this paper the methods of remote control over space robots with large delays of the transmission of control signals from the Earth to the local robot control system are theoretically and experimentally substan-

Robot master slave and supervisory control with large time delays of control signals and feedback

Conditions of asymptotic stability for linear homogeneous switched systems

In this paper both scalar and vector controls are built which solve the problem of relay-stabilizing of the system with hysteresis type nonlinearities. The behavior of closed system solutions in a neighborhood of its invariant set is studied, its structure is researched.

Gennady Alferov

Papers

Robot master slave and supervisory control with large time delays of control signals and feedback

Conditions of asymptotic stability for linear homogeneous switched systems

Study on the structure of limit invariant sets of stationary control systems with nonlinearity of hysteresis type

Dynamic Analysis of Space Robot Remote Control System

Bilateral remote control over space manipulators