The wave variable method for multiple degree of freedom teleoperation systems with time delay

2006 ◽  
Author(s):  
M. Alise ◽  
R.G. Roberts ◽  
D.W. Repperger
Keyword(s):  
Time Delay ◽  
Degree Of Freedom ◽  
Variable Method ◽  
Wave Variable ◽  
Teleoperation Systems

Adaptive Nonlinear Teleoperation with Time Delay Using Modified Wave Variable Based Controller

2011 ◽  
Vol 110-116 ◽  
pp. 2284-2295
Author(s):  
Wei Xiong ◽  
He Hua Ju ◽  
Hong Yun Liu
Keyword(s):  
Variable Method ◽  
Communication Delays ◽  
Bilateral Teleoperation ◽  
Wave Variable ◽  
Control Framework ◽  
Adaptive Motion ◽  
Key Issues ◽  
The Stability ◽  
Teleoperation Systems ◽  
Robotic Teleoperation

Transparency and stability are two key issues in bilateral teleoperation. In this paper, We propose a novel control framework for bilateral teleoperation of nonlinear robotic teleoperation systems under constant communication delays. The proposed approach utilizes the modified wave variable method based on the adaptive nonlinear control, the master and slave robots are directly connected over the delayed communication channels. To make the stability of the system independent of the communication delay, two nonlinear adaptive motion/force controllers are bilaterally designed for both master and slave manipulators and insured its passivity. To improve the transparency, a modified wave variable method based on Nimeyer-Slotine wave ways was used. Simulation results are presented which demonstrate the effectiveness of the proposed architecture.

On Extending the Wave Variable Method to Multiple-DOF Teleoperation Systems

2009 ◽  
Vol 14 (1) ◽  
pp. 55-63 ◽  
Author(s):  
Marc Alise ◽  
Rodney G. Roberts ◽  
Daniel W. Repperger ◽  
Carl A. Moore ◽  
Sabri Tosunoglu
Keyword(s):  
Variable Method ◽  
Wave Variable ◽  
Teleoperation Systems

scholarly journals New time delay estimation-based virtual decomposition control for n-DoF robot manipulator

2021 ◽  
Vol 10 (3) ◽  
pp. 192
Author(s):  
Hachmia Faqihi ◽  
Khalid Benjelloun ◽  
Maarouf Saad ◽  
Mohammed Benbrahim ◽  
M. Nabil Kabbaj
Keyword(s):  
Time Delay ◽  
Dynamic Model ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Degree Of Freedom ◽  
Delay Estimation ◽  
The Stability

<p>One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.</p>

Bilateral Control of Teleoperation Systems With Time Delay

2015 ◽  
Vol 20 (1) ◽  
pp. 1-12 ◽  
Author(s):  
Shafiqul Islam ◽  
P. X. Liu ◽  
Abdulmotaleb El Saddik ◽  
Yubin B. Yang
Keyword(s):  
Time Delay ◽  
Bilateral Control ◽  
Teleoperation Systems
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