A Gain-Switching Control Scheme for Position-Error-Based Bilateral                Teleoperation: Contact Stability Analysis and Controller Design

Ni, Liya; Wang, David W. L.

doi:10.1177/0278364904041563

Cited by 31 publications

(16 citation statements)

References 19 publications

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“…For example, in remote surgery, a surgeon can apply excessive force with the surgical tools and potentially injure a patient 8 . Force feedback traditionally requires force sensors that in turn can add to the cost and complexity of the process by introducing measurement noise 9 . Meanwhile, inertial robot parameter variations in the teleoperation system often cause the obtained forces inaccurate.…”

Section: The Position-force Teleoperation Architecturementioning

confidence: 99%

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Nonlinear bilateral teleoperation using extended active observer for force estimation and disturbance suppression

et al. 2014

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A novel nonlinear teleoperation algorithm for simultaneous inertial parameters and force estimation at the master and slave sides of the teleoperation system is proposed. The scheme, called Extended Active Observer (EAOB), is an extension of the existing active observer. It provides effective force tracking at the master side with accurate position tracking at the slave side in the presence of inertial parameter variation and measurement noise. The proposed method only requires the measurement of robot position, and as a result significantly reduces the difficulty and cost of implementing bilateral teleoperation systems. The approach is described and its stability is analytically verified. The performance of the method is validated through computer simulation and compared with the Nicosia observer-based controller. According to the results, EAOB outperforms the Nicosia observer method and effectively rejects noise. Abstract: A novel nonlinear teleoperation algorithm for simultaneous inertial parameters and force estimation at both master and slave sides of the teleoperation system is proposed. The scheme, called Extended Active Observer (EAOB), is an extension of the existing active observer. It provides effective force tracking at the master side with accurate position tracking at the slave side in the presence of inertial parameter variation and measurement noise. The proposed method only requires the measurement of robot position and as a result significantly reduces the difficulty and cost of implementing bilateral teleoperation systems. The approach is described and its stability is analytically verified. The performance of the method is validated through computer simulation and compared with Nicosia observer based controller. According to the results, EAOB outperforms Nicosia-observer method and effectively rejects noise.

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Section: The Position-force Teleoperation Architecturementioning

confidence: 99%

“…where * is described in (9). Then, the stability of the EAOB can be achieved through the following four steps.…”

Section: Theoremmentioning

confidence: 99%

Nonlinear bilateral teleoperation using extended active observer for force estimation and disturbance suppression

et al. 2014

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“…The SBTS implements macromicro scaling for both position and force to make a micro-domain task more comfortable for the human operator. The gain-switching control scheme (14) is utilized as a strategy of the SBTS for the MHMP to improve the transparency of position-error-based teleoperation for two cases: 1) free motion, and 2) bump into a hard contact. However, the transparency and fidelity of the SBTS can be improved if the SBTS's controller is fed with the measurements slave-side force sensors, 4-channel bilateral teleoperation (15) .…”

Section: Description Of Magnetic-haptic Micromanipulation Platform (Mmentioning

confidence: 99%

Micro-Domain Force Estimation Using Hall-Effect Sensors for a Magnetic Microrobotic Station

Mehrtash

Khamesee

2013

JAMDSM

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This paper introduces a novel micro-domain force estimation method for applications in a magnetic-haptic micromanipulation platform (MHMP). The MHMP employs the magnetic levitation technology in micro-domain worlds for ultra-high precision micromanipulation. In the MHMP, a microrobot that consists of a magnetic head and a body that includes electronic parts and an end-effector is manipulated by regulating an external magnetic field. The MHMP has been equipped with a haptic technology to allow a human operator to feel micro-domain environments and to intervene in dexterous tasks due to the poor knowledge from micro-worlds. To preserve a high feeling of a micro-domain environment for a human operator, the applied force/torque from the environment to the microrobot are required to be directly measured by specific sensors. Due to the size restriction, attaching force sensors to our microrobot is impractical. Therefore, we use a combination of Hall-effect sensor in the structure of the MHMP to estimate a single-axis force, eliminating the need for sensors on the microrobot. The Hall-sensors measure the magnetic flux and determine the location of the horizontally zero magnetic field gradient, B max location. It was realized that the applied force from the environment to the microrobot is linearly proportional to the distance of the microrobot from the B max location. The magnetic force which is equal to the environment force is calibrated using a cantilever deflection. The developed micro-domain force estimation method is verified experimentally, and it was demonstrated that this method has promising potential in estimating the environmental force applied to the microrobot in a non-contact way.

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“…HashtrudiZaad and Salcudean [4] discussed the use of absolute stability theory [5] for designing position-tracking controllers for a teleoperator. Ni and Wang [6] used a gain-switching method to increase transparency of a position-exchange teleoperator. Our recent work used model-based friction compensators to increase transparency of a position-exchange teleoperator with compliant tendon-driven joints [7,8].…”

Section: Related Workmentioning

confidence: 99%

Enhancing Transparency of a Position-Exchange Teleoperator

Mahvash

Okamura

2007

Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07

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Dynamic properties of robotic manipulators, including inertia, damping, and friction, limit the transparency of a haptic-feedback teleoperator. In this paper, we develop a position-exchange controller to provide hapticfeedback for a surgical teleoperator. The controller consists of proportional controllers and model-based feedforward terms that cancel the dynamic properties of the manipulators. We show that the teleoperator transmits the impedance of a soft environment to the operator when the gains of the proportional controllers are very high and dynamic terms of the manipulators are canceled. However, the high gains and complete cancellation of the dynamic terms of the manipulators can make the teleoperator unstable. We use Llewellyn's criteria for absolute stability to limit the controller parameters to values that keep the teleoperator stable during interactions with any passive user and environment. Experimental results using a custom version of the da Vinci Surgical System show that 70% of the inertia of the slave manipulators during low-frequency motion and almost all static friction of the manipulators during sliding motion can be canceled.

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A Gain-Switching Control Scheme for Position-Error-Based Bilateral Teleoperation: Contact Stability Analysis and Controller Design

Cited by 31 publications

References 19 publications

Nonlinear bilateral teleoperation using extended active observer for force estimation and disturbance suppression

Nonlinear bilateral teleoperation using extended active observer for force estimation and disturbance suppression

Micro-Domain Force Estimation Using Hall-Effect Sensors for a Magnetic Microrobotic Station

Enhancing Transparency of a Position-Exchange Teleoperator

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