Dissipativity-Based Teleoperation with Time-Varying Communication Delays

Abstract

We analyze the effects of communication delays in teleoperation systems using dissipativity theory along with explicit models of the operator and robot. We utilize a simple model of the operator's behavior that describes human pointing motions, as generated by an interface such as a mouse pointer or tablet, and we use a robot model that is suitable for mobile robots or robotic manipulators. Using dissipativity conditions for stability, we show that the communication delays can be compensated for in the robot controller with a relatively simple extension to a controller designed for the situation without delays. We also show that the communication delays can lead to problems for human pointing in certain situations; specifically, if the operator overshoots their target, it may lead to instability unless corrective action is taken by the user interface. Simulation is shown to validate the results.

Passivity-based bilateral human-swarm-interactions for cooperative robotic networks and human passivity analysis

“…This implies that ((D ⊗I 2 ) Tq ) T u h is monotonically increasing, which contradicts (13). Thus, c must equal 0.…”

“…Nevertheless, control theoretic formulations for studying bilateral human-robot interaction typically presume traditional interfaces like robot manipulators or joysticks. A recent paper [13] focused on this aspect, however the authors considered control of a single robot as compared to the multi-robot case considered in the present paper. Regarding the information fed back to the human, it has been well established in bilateral teleoperation that force feedback improves control performance and transparency.…”

Augmented Reality for Telemaintenance and -inspection in Force-Sensitive Industrial Robot Applications

“…This technique can be used to show robot poses (for example, where the robot was when a certain event occurred, information on the orientation of the tool when contact to the workpiece is made), but also to analyze trajectories (recorded, or even modified, before actual execution with the real robot) by animating the wireframe model to see the whole movement of the manipulator beforehand. It can also be used for control: When remotely moving the robot, time delays can be troublesome and lead to overshooting and potentially collisions (Varnell (2013)). By controlling only the virtual model in the telematic interface, checking its movement and sending a command to trigger the actual movement of the real robot afterwards, the manipulator can remotely be moved securely and independent of time delays.…”

Passivity-based control of human-robotic networks with inter-robot communication delays and experimental verification

“…Other interesting extensions of bilateral teleoperation are presented in [5] and [6]. Varnell and Zhang [5] employ a non-classical humanrobot interfaces, namely a tablet, and discuss the stability while assuming a human pointing model. Saeidi et al [6] introduce the notion of robot-to-human trust and mixed Information flows in the intended scenario of human-robotic network system.…”

“…Fully distributed control algorithms are presented by Franchi et al [4], where stability is ensured in the presence of split and join events. Other interesting extensions of bilateral teleoperation are presented in [5] and [6]. Varnell and Zhang [5] employ a non-classical humanrobot interfaces, namely a tablet, and discuss the stability while assuming a human pointing model.…”