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.

scholarly journals An Adaptive Regulator for Space Teleoperation System in Task Space

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Chao Ge ◽  
Weiwei Zhang ◽  
Hong Wang ◽  
Xiaoyi Li
Keyword(s):  
Outer Space ◽  
Joint Space ◽  
Position Tracking ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Task Space ◽  
Teleoperation System ◽  
Accurate Position ◽  
Gravity Signal ◽  
Adaptive Regulator

The problem of the gravity information which can not be obtained in advance for bilateral teleoperation is studied. In outer space exploration, the gravity term changes with the position changing of the slave manipulator. So it is necessary to design an adaptive regulator controller to compensate for the unknown gravity signal. Moreover, to get a more accurate position tracking performance, the controller is designed in the task space instead of the joint space. Additionally, the time delay considered in this paper is not only time varying but also unsymmetrical. Finally, simulations are presented to show the effectiveness of the proposed approach.

scholarly journals Task-space regulation of rigid-link electrically-driven robots with uncertain kinematics using neural networks

2021 ◽  
Vol 54 (1-2) ◽  
pp. 102-115
Author(s):  
Wenhui Si ◽  
Lingyan Zhao ◽  
Jianping Wei ◽  
Zhiguang Guan
Keyword(s):  
Neural Networks ◽  
Asymptotic Stability ◽  
Control Method ◽  
Joint Space ◽  
Robot Kinematics ◽  
Rbf Neural Networks ◽  
Task Space ◽  
Actuator Dynamics ◽  
Rigid Link ◽  
On Line

Extensive research efforts have been made to address the motion control of rigid-link electrically-driven (RLED) robots in literature. However, most existing results were designed in joint space and need to be converted to task space as more and more control tasks are defined in their operational space. In this work, the direct task-space regulation of RLED robots with uncertain kinematics is studied by using neural networks (NN) technique. Radial basis function (RBF) neural networks are used to estimate complicated and calibration heavy robot kinematics and dynamics. The NN weights are updated on-line through two adaptation laws without the necessity of off-line training. Compared with most existing NN-based robot control results, the novelty of the proposed method lies in that asymptotic stability of the overall system can be achieved instead of just uniformly ultimately bounded (UUB) stability. Moreover, the proposed control method can tolerate not only the actuator dynamics uncertainty but also the uncertainty in robot kinematics by adopting an adaptive Jacobian matrix. The asymptotic stability of the overall system is proven rigorously through Lyapunov analysis. Numerical studies have been carried out to verify efficiency of the proposed method.

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.

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