A Wave Variable Approach With Multiple Channel Architecture for Teleoperated System

Luo, Jing; Liu, Chao; Wang, Ning; Yang, Chenguang

doi:10.1109/access.2019.2945674

Cited by 6 publications

(4 citation statements)

References 48 publications

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“…Even the newly developed controllers are being tested on a 4-channel architecture [27]. An extension of the wave-variable method shown in [28] is still combined with a 4-channel architecture. But this sub-section shows that the traditional 4-channel architecture can be reduced to a 2-channel architecture using the proposed design.…”

Section: Reducing To a 2-channel Architecturementioning

confidence: 99%

Enhancement of Stability and Transparency in Teleoperated Robots Through Isotropy-Based Design

2020

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The primary challenge in implementing teleoperated master-slave robots is that both of its objectives-stability and transparency, are conflicting to each other. This trade-off is usually attributed to the time-delay in the communication channel, and state-of-the-art controllers are proposed primarily to counteract the effects of this time delay. Despite such controllers, it is observed that the system suffers from instability and inaccurate force feedback (loss of transparency), at least under certain conditions. This is because issues other than time delay which cause oscillations and inaccurate force feedback are rarely addressed in the literature. In this paper, such issues are clearly identified and it is shown here that controller design cannot counteract these issues. It is proposed in this paper that an isotropy based design of robots is necessary for recovering the additional stable and transparent behavior of the system, apart from what a controller can achieve. Another significant contribution of this paper is that because of the proposed design, the need for two signals from the traditional four-channel teleoperation architecture is eliminated, thus reducing the complexity of the system. Experimental validation is carried out by implementing a twochannel architecture on the designed robots. INDEX TERMS Bilateral teleoperation, conditioning index, isotropy based design, stability, teleoperation architecture, transparency.

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Section: Reducing To a 2-channel Architecturementioning

confidence: 99%

Enhancement of Stability and Transparency in Teleoperated Robots Through Isotropy-Based Design

2020

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“…is a lower bounded energy function representing the energy stored into the channel. Thus, from (7) we can deduce that the communication channel is lossless and from (8) we can notice that the energy contained in the transmitted waves is stored in the channel until it is delivered. Since master and slave sides are passive and since the interconnection of passive systems is passive, the overall teleoperation system is passive with respect to the pair ((F T h F T e ) T , ( ẋT m ẋT s ) T ).…”

Section: Background On Wave Variablesmentioning

confidence: 99%

“…Wave variables are almost a standard for stabilizing the delayed communication in bilateral teleoperation and they are still widely used (see e.g. [6], [7], [8], [9]). The success of wave variables is due to the simplicity of their implementation [4] and to the effectiveness in stabilizing the communication between local and remote sides even in case of variable time delays and packet loss [10].…”

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confidence: 99%

Optimized power modulation in wave based bilateral teleoperation

Ferraguti

Bonfè

Fantuzzi

et al. 2020

IEEE/ASME Trans. Mechatron.

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A common approach for stabilizing the delayed communication channel in a bilateral teleoperation architecture is using wave variables to make the exchange of information equivalent to a passive physical dynamics. However, such a dynamics is felt by the user and it affects the transparency of the system. In this paper, we exploit the wave variables for storing the energy exchanged between master and slave, but we shape the incoming power for reproducing a desired, transparent behavior. First, we propose a passivity preserving modulation of the incoming power, then we achieve possibly scaled desired forces and velocities. Finally, we formulate an optimization problem for computing the best values of forces and velocities to be implemented. A validation of the proposed architecture and the comparison of its performances with respect to the standard wave-based approach are provided.

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“…Zaman gec&kmeler& altında dört kanallı doğrusal olmayan &k& taraflı teleoperasyon s&stem&n&n pas&fl&k ve dalga değ&şken tabanlı kontrol gerçekleşt&r&lm&şt&r [19]. D&nam&k bel&rs&zl&kler& ve zaman gec&kmeler&n&n etk&s&n& azaltmak &ç&n dalga değ&şkenl& radyal tabanlı s&n&r ağları (RBFNN) kontrol yöntem& kullanılmıştır [20].B&rçok araştırmacı tarafından dalga değ&şken yöntem& araştırılmış, gel&şt&r&lm&ş ve gel&şt&r&lmeye devam ett&r&lmekted&r [21][22][23]. Şek&l 1'de &k& yönlü teleoperasyon s&stem&n&n genel görünümü göster&lm&şt&r.…”

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Sabit Zaman Gecikmeli Tek Serbestlik Dereceli Bir Haptik-Teleoperasyon Sisteminin Kontrolü

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2021

Fırat Üniversitesi Mühendislik Bilimleri Dergisi

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Haptik-teleoperasyon sistemlerinin performansının arttırılması amacıyla çeşitli çalışmalar yürütülmektedir. Haptikteleoperasyon sistemlerinde iki temel unsur hedeflenmektedir. Birinci kararlılık(stability) ikincisi ise şeffaflık(transparency)'tır. Özellikle kararlılığı, şeffaflığı bozan ve performansı etkileyen en önemli problemlerden biri zaman gecikmesidir. Zaman gecikmesi haptik teleoperasyon sistemlerinin performansını oldukça kötü etkilemektedir. Bu çalışmada tek serbestlik dereceli robotlardan oluşan haptik-teleoperasyon sisteminin sabit zaman gecikmeli kontrolü hedeflenmiştir. Öncelikle sistemi oluşturan robotların hareket denklemleri elde edilmiştir. Dalga değişken yöntemi(Wave Variables Method) kullanılarak sabit zaman gecikmesi telafi edilmiştir.200,400 ve 800 milisaniye zaman gecikmesinin varlığında sistem kontrol edilmiştir. Elde edilen sonuçlar iki farklı performans kriterleri (MAE ve MSE) kullanılarak elde edilmiş ve tablolar şeklinde verilmiştir. Sonuçlar grafikler ve tablolar şeklinde verilmiş ve irdelenmiştir.

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A Wave Variable Approach With Multiple Channel Architecture for Teleoperated System

Cited by 6 publications

References 48 publications

Enhancement of Stability and Transparency in Teleoperated Robots Through Isotropy-Based Design

Enhancement of Stability and Transparency in Teleoperated Robots Through Isotropy-Based Design

Optimized power modulation in wave based bilateral teleoperation

Sabit Zaman Gecikmeli Tek Serbestlik Dereceli Bir Haptik-Teleoperasyon Sisteminin Kontrolü

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