A Review on Haptic Bilateral Teleoperation Systems

2021 ◽  
Vol 104 (1) ◽  
Author(s):  
Syeda Nadiah Fatima Nahri ◽  
Shengzhi Du ◽  
Barend Jacobus Van Wyk
Keyword(s):  
Bilateral Teleoperation ◽  
Teleoperation Systems

Transparent four-channel bilateral control architecture using modified wave variable controllers under time delays

Robotica ◽  
2014 ◽  
Vol 34 (4) ◽  
pp. 859-875 ◽  
Author(s):  
Da Sun ◽  
Fazel Naghdy ◽  
Haiping Du
Keyword(s):  
Time Delays ◽  
Large Time ◽  
Wave Transformation ◽  
Bilateral Teleoperation ◽  
Bilateral Control ◽  
Wave Variable ◽  
Guarantee System ◽  
Remote Environment ◽  
The Stability ◽  
Teleoperation Systems

SUMMARYStability and transparency are two critical indices of bilateral teleoperation systems. The wave variable method is a conservative approach to robustly guarantee system passivity under arbitrary constant time delays. However, the wave-variable-based reflection is an intrinsic problem in this method because it can significantly degrade system transparency and disorient the operator's perception of the remote environment. In order to enhance both the transparency and the stability of bilateral teleoperation systems in the presence of large time delays, a new four-channel (4-CH) architecture is proposed which applies two modified wave-transformation controllers to reduce wave-based reflections. Transparency and stability of the proposed system are analyzed and the improvement in these when using this method is measured experimentally. Results clearly demonstrate that the proposed method can produce high transparency and stability even in the presence of large time delays.

A Simple Structure for Bilateral Transparent Teleoperation Systems With Time Delay

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Alireza Alfi ◽  
Mohammad Farrokhi
Keyword(s):  
Time Delay ◽  
Closed Loop ◽  
Simple Structure ◽  
Finite Impulse Response ◽  
Structure Design ◽  
Loop System ◽  
Bilateral Teleoperation ◽  
Closed Loop System ◽  
The Stability ◽  
Teleoperation Systems

This paper presents a simple structure design for bilateral teleoperation systems with uncertainties in time delay in communication channel. The goal is to achieve complete transparency and robust stability for the closed-loop system. For transparency, two local controllers are designed for the bilateral teleoperation systems. One local controller is responsible for tracking the master commands, and the other one is in charge of force tracking as well as guaranteeing the stability of the closed-loop system in the presence of uncertainties in time delay. The stability analysis will be shown analytically for two cases: (I) the possibly stability and (II) the intrinsically stability. Moreover, in Case II, in order to generate the proper inputs for the master controller in the presence of uncertainties in time delay, an adaptive finite impulse response (FIR) filter is designed to estimate the time delay. The advantages of the proposed method are threefold: (1) stability of the closed-loop system is guaranteed under some mild conditions, (2) the whole system is transparent, and (3) design of the local controllers is simple. Simulation results show good performance of the proposed method.

scholarly journals Adaptive control of time-delayed bilateral teleoperation systems with uncertain kinematic and dynamics

2019 ◽  
Vol 6 (1) ◽  
pp. 1631604
Author(s):  
Afshin Javid ◽  
Mohammad Ali Nekoui ◽  
Bin Zhou
Keyword(s):  
Adaptive Control ◽  
Bilateral Teleoperation ◽  
Teleoperation Systems

Controller design for nonlinear bilateral teleoperation systems via total energy shaping

2021 ◽  
Vol 150 ◽  
pp. 107239
Author(s):  
Robab Ebrahimi Bavili ◽  
Ahmad Akbari ◽  
Reza Mahboobi Esfanjani
Keyword(s):  
Total Energy ◽  
Controller Design ◽  
Bilateral Teleoperation ◽  
Energy Shaping ◽  
Teleoperation Systems
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