Task Space Bilateral Teleoperation of Co-manipulators using Power-based TDPC and Leader-follower Admittance Control

2021 ◽  
Author(s):  
Chen Cai ◽  
Ya-Jun Pan ◽  
Steven Liu ◽  
Lucas Wan
Keyword(s):  
Bilateral Teleoperation ◽  
Task Space ◽  
Admittance Control

scholarly journals Bilateral teleoperation with object-adaptive mapping

2021 ◽  
Author(s):  
Xiao Gao ◽  
João Silvério ◽  
Sylvain Calinon ◽  
Miao Li ◽  
Xiaohui Xiao
Keyword(s):  
Moving Objects ◽  
Haptic Feedback ◽  
Space Mapping ◽  
Bilateral Teleoperation ◽  
Task Space ◽  
Mapping Approach ◽  
Pick And Place

AbstractTask space mapping approaches for bilateral teleoperation, namely object-centered ones, have yielded the most promising results. In this paper, we propose an invertible mapping approach to realize teleoperation through online motion mapping by taking into account the locations of objects or tools in manipulation skills. It is applied to bilateral teleoperation, with the goal of handling different object/tool/landmark locations in the user and robot workspaces while the remote objects are moving online. The proposed approach can generate trajectories in an online manner to adapt to moving objects, where impedance controllers allow the user to exploit the haptic feedback to teleoperate the robot. Teleoperation experiments of pick-and-place tasks and valve turning tasks are carried out with two 7-axis torque-controlled Panda robots. Our approach shows higher efficiency and adaptability compared with traditional mappings.

Unified Virtual Guides Framework for Path Tracking Tasks

Robotica ◽  
2019 ◽  
Vol 38 (10) ◽  
pp. 1807-1823 ◽  
Author(s):  
Leon Žlajpah ◽  
Tadej Petrič
Keyword(s):  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Path Tracking ◽  
Human Robot Interaction ◽  
Task Space ◽  
Admittance Control ◽  
Unified Framework ◽  
Robot Interaction ◽  
Tracking Tasks ◽  
Selection Of

SUMMARYIn this paper, we propose a novel unified framework for virtual guides. The human–robot interaction is based on a virtual robot, which is controlled by the admittance control. The unified framework combines virtual guides, control of the dynamic behavior, and path tracking. Different virtual guides and active constraints can be realized by using dead-zones in the position part of the admittance controller. The proposed algorithm can act in a changing task space and allows selection of the tasks-space and redundant degrees-of-freedom during the task execution. The admittance control algorithm can be implemented either on a velocity or on acceleration level. The proposed framework has been validated by an experiment on a KUKA LWR robot performing the Buzz-Wire task.

scholarly journals A task space admittance control algorithm for safe human robot interaction

PAMM ◽  
2018 ◽  
Vol 18 (1) ◽  
Author(s):  
Dominik Kaserer ◽  
Hubert Gattringer ◽  
Andreas Müller
Keyword(s):  
Control Algorithm ◽  
Human Robot Interaction ◽  
Task Space ◽  
Admittance Control ◽  
Robot Interaction

Task-Space Framework for Bilateral Teleoperation With Time Delays

2012 ◽  
Vol 134 (5) ◽  
Author(s):  
Hanlei Wang ◽  
Yongchun Xie
Keyword(s):  
Time Delays ◽  
Joint Space ◽  
Schwarz Inequality ◽  
Bilateral Teleoperation ◽  
Task Space ◽  
Control Approach ◽  
Energy Flows ◽  
Control Framework ◽  
Communication Time ◽  
Task Space Control

This paper investigates the task-space control framework for bilateral teleoperation with communication time delays. Teleoperation in task space R3 × SO(3) presents some distinctive features different from its joint-space counterpart, i.e., SO(3) is nonconvex and bears quite different structure from Euclidean space Rn. Through analyzing the energy flows at the two ports of the teleoperator, we rigorously define the task-space interaction passivity of the teleoperator. Based on this passivity framework, we propose delay-robust control schemes to achieve master–slave position/orientation synchronization. Singularity-free task-space interaction passivity of the closed-loop teleoperator is ensured by the proposed task-space control framework. Using Lyapunov–Krasovskii stability tool and Schwarz inequality, we analyze the performance of the proposed teleoperation control scheme. We also discuss the problems incurred by time-varying delays and the corresponding solutions. Simulation study on a master–slave teleoperator composed of two kinematically dissimilar six-degree of freedom (DOF) manipulators is performed to illustrate the performance of the proposed control approach.

Task-space bilateral teleoperation systems for heterogeneous robots with time-varying delays

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2065-2082 ◽  
Author(s):  
Yen-Chen Liu
Keyword(s):  
Control System ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Task Space ◽  
Task Control ◽  
Time Varying Delay ◽  
Heterogeneous Robots ◽  
Remote Environment ◽  
Teleoperation Systems ◽  
Varying Delay

SUMMARYThis paper proposes control algorithms for heterogeneous teleoperation systems to guarantee stability and tracking performance in the presence of time-varying communication delays. Because robotic manipulators, in most applications of bilateral teleoperation systems, interact with a human operator and remote environment on the end-effector, the control system is developed in the task-space. When the dynamic parameters of the robots are unknown and the communication network is subject to time-varying delay, the developed controller can ensure stability and task-space position tracking. Additionally, if the robotic systems are influenced by human and environmental forces, the presented teleoperation control system is demonstrated to be stable and all signals are proven to be ultimately bounded. By employing the redundancy of the slave robot for sub-task control, the proposed teleoperation system can autonomously achieve additional missions in the remote environment. Numerical examples utilizing a redundant planar robot are addressed to validate the proposed task-space teleoperators with time-varying delay.

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