Journal ArticleDOI
Passive Bilateral Teleoperation With Constant Time Delay
Dongjun Lee,Mark W. Spong +1 more
TLDR
The proposed control framework provides humans with extended physiological proprioception, so that s/he can affect and sense the remote slave environments mainly relying on her/his musculoskeletal systems.Abstract:
We propose a novel control framework for bilateral teleoperation of a pair of multi-degree-of-freedom nonlinear robotic systems under constant communication delays. The proposed framework uses the simple proportional-derivative control, i.e., the master and slave robots are directly connected via spring and damper over the delayed communication channels. Using the controller passivity concept, the Lyapunov-Krasovskii technique, and Parseval's identity, we can passify the combination of the delayed communication and control blocks altogether robustly, as long as the delays are finite constants and an upper bound for the round-trip delay is known. Having explicit position feedback through the delayed P-action, the proposed framework enforces master-slave position coordination, which is often compromised in the conventional scattering-based teleoperation. The proposed control framework provides humans with extended physiological proprioception, so that s/he can affect and sense the remote slave environments mainly relying on her/his musculoskeletal systems. Simulation and experiments are performed to validate and highlight properties of the proposed control frameworkread more
Citations
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Journal ArticleDOI
Bilateral teleoperation: An historical survey
Peter Hokayem,Mark W. Spong +1 more
TL;DR: This survey addresses the subject of bilateral teleoperation, a research stream with more than 50 years of history and one that continues to be a fertile ground for theoretical exploration and many applications.
Posted Content
Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems
TL;DR: In this article, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and represents a generalization of the average consensus problem, and exact nonlinear stability guarantees and synchronization conditions are derived by contraction analysis.
Journal ArticleDOI
Brief paper: Synchronization of bilateral teleoperators with time delay
TL;DR: A novel adaptive coordination architecture is proposed which uses state feedback to define a new passive output for the master and slave robots containing both position and velocity information and which guarantees ultimate boundedness of the master/slave trajectories on contact with a passive environment.
Journal ArticleDOI
Passivity-based control for bilateral teleoperation: A tutorial
TL;DR: A unified theoretical framework-based on a general Lyapunov-like function-that, upon slight modification, allows to analyze the stability of all the schemes.
Journal ArticleDOI
A Globally Stable PD Controller for Bilateral Teleoperators
TL;DR: It is proved that it is indeed possible to achieve stable behavior with simple PD-like schemes-even without the delayed derivative action-under the classical assumption of passivity of the terminal operators.
References
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