A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects

Hu, Jinfei; Zheng, Chao; Ma, Xiaoyi; Lai, Han; Yao, Bin

doi:10.1109/jas.2022.105626

Cited by 5 publications

(1 citation statement)

References 40 publications

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“…In addition, Gao et al (2021) indicated that the communication time delay had an impact on the timely teleoperation system feedback, but it had little effect on the master–slave synchronization with sufficient time. Moreover, Hu et al (2022) used the passivity principle to explain the negligibility of the delay. Then, the communication channel was assumed to have no communication time delay when the master and the slave robot were physically close to each other (Jazayeri and Tavakoli, 2012).…”

Section: Methodsmentioning

confidence: 99%

Event-triggered aperiodic intermittent sliding-mode control for master–slave bilateral teleoperation robotic systems

Gao

2022

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Purpose The purpose of this paper is to propose a novel event-triggered aperiodic intermittent sliding-mode control (ETAI-SMC) algorithm for master–slave bilateral teleoperation robotic systems to further save communication resources while maintaining synchronization precision. Design/methodology/approach By using the Lyapunov theory, a new event-triggered aperiodic intermittent sliding-mode controller is designed to synchronize master–slave robots in a discontinuous method. Unlike traditional periodic time-triggered continuous control strategy, a new ETAI condition is discussed for less communication pressure. Then, the exponential reaching law is adopted to accelerate sliding-mode variables convergence, which has a significant effect on synchronization performance. In addition, the authors use quantizers to make their algorithm have obvious progress in saving communication resources. Findings The proposed control algorithm performance is validated by an experiment developed on a practical bilateral teleoperation system with two PHANToM Omni robotic devices. As a result, the synchronization error is limited within a small range and the control frequency is evidently reduced. Compared with a conventional control algorithm, the experimental results illustrate that the proposed control algorithm is more sensitive to system states changes and it can further save communication resources while guaranteeing the system synchronization accuracy, which is more practical for real bilateral teleoperation robotic systems. Originality/value A novel ETAI-SMC for bilateral teleoperation robotic systems is proposed to find a balance between reducing the control frequency and synchronization control precision. Combining the traditional sliding-mode control algorithm with the periodic intermittent control strategy and the event-triggered control strategy has produced obvious effect on our control performance. The proposed ETAI-SMC algorithm helps the controller be more sensitive to system states changes, which makes it possible to achieve precise control with lower control frequency. Moreover, we design an environment contact force feedback algorithm for operators to improve the perception of the slave robot working environment. In addition, quantizers and the exponential convergence law are adopted to help the proposed algorithm perform better in saving communication resources and improving synchronization precision.

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Section: Methodsmentioning

confidence: 99%

Event-triggered aperiodic intermittent sliding-mode control for master–slave bilateral teleoperation robotic systems

Gao

2022

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State of the Art and Development Trend of Laparoscopic Surgical Robot and Master Manipulator

Han,

Sang,

Liu

et al. 2024

Robotics Computer Surgery

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BackgroundIn recent years, laparoscopic surgical robots have rapidly developed. However, most focus on the overall robotic systems, with few summaries on the laparoscopic surgical robots and the master manipulators.MethodsThis paper provides a summary and analysis of typical laparoscopic surgical robots, including the strengths and limitations of existing laparoscopic surgical robots. Additionally, the master manipulators are analysed and summarised from four aspects: structural design and optimization, time‐varying delays, tremor suppression and force feedback. Further classification and summary are made based on the different methods used in each study.ResultsLaparoscopic surgical robots and the master manipulators still have some limitations. Therefore, the development trends of the laparoscopic surgical robots and the master manipulators are discussed from four aspects: structural materials, remote surgery, intelligence and human–machine interaction.ConclusionWith the continuous advancement of technology, laparoscopic surgical robots will play an increasingly important role in the field of surgery.

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Fixed-time personalized variable gain tracking control for teleoperation systems with time varying delays

Guo,

Liu,

et al. 2023

Journal of the Franklin Institute

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A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects

Cited by 5 publications

References 40 publications

Event-triggered aperiodic intermittent sliding-mode control for master–slave bilateral teleoperation robotic systems

Event-triggered aperiodic intermittent sliding-mode control for master–slave bilateral teleoperation robotic systems

State of the Art and Development Trend of Laparoscopic Surgical Robot and Master Manipulator

Fixed-time personalized variable gain tracking control for teleoperation systems with time varying delays

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