The Effect of Controller Design on Delayed Bilateral Teleoperation Performance: An Experimental Comparison

2020 ◽  
Vol 28 (5) ◽  
pp. 1727-1740
Author(s):  
Ruud Beerens ◽  
Dennis Heck ◽  
Alessandro Saccon ◽  
Henk Nijmeijer
Keyword(s):  
Controller Design ◽  
Experimental Comparison ◽  
Bilateral Teleoperation

Time delay compensation for nonlinear bilateral teleoperation: A motion prediction approach

2019 ◽  
Vol 41 (16) ◽  
pp. 4488-4498 ◽  
Author(s):  
Shaobo Shen ◽  
Aiguo Song ◽  
Tao Li ◽  
Huijun Li
Keyword(s):  
Time Delay ◽  
Controller Design ◽  
Motion Prediction ◽  
Prediction Errors ◽  
Bilateral Teleoperation ◽  
Delay Compensation ◽  
System A ◽  
Cascade Structure ◽  
Time Delay Compensation ◽  
Prediction Approach

This paper addresses the time delay compensation problem for nonlinear teleoperation system. A novel motion prediction approach is proposed based on a state observer with a cascade structure. The actual positions of master robot are estimated on the slave side by using delayed information of measurements. The prediction errors remain bounded under an appropriate set of assumptions for the system uncertainties. Moreover, an essential theorem for slave controller design is proposed to demonstrate performance recovery of the closed-loop system with cascade observer. By using the predictions, the forward time delay is effectively compensated when we design the controller of slave robot. Simulations are performed to verify the effectiveness of proposed method. The prediction results are highlighted through comparing with other two kinds of cascade predictors.

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