Dual-User Teleoperation Systems: New Multilateral Shared Control Architecture and Kinesthetic Performance Measures

Khademian, Behzad; Hashtrudi-Zaad, Keyvan

doi:10.1109/tmech.2011.2141673

Cited by 91 publications

(47 citation statements)

References 30 publications

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“…34 These methods are modified versions of the multilateral teleoperation architecture presented here. In this section, we show that the proposed stability analysis and control design method can also be utilized to guarantee stability with dominance factors in dual master teleoperation.…”

Section: Controller Design For Multilateral Teleoperation Systems Witmentioning

confidence: 99%

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

Tümerdem

2017

International Journal of Advanced Robotic Systems

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Multilateral teleoperation is the general name given to haptic teleoperation with multiple robots and operators. It is the generalization of two robot bilateral teleoperation systems to N robots. One of the applications of multilateral teleoperation is haptic training, where multiple operators can move multiple master robots, and in consensus, they can control a single slave robot. This enables the operators to influence each other's motion with their force inputs and a more experienced operator can instruct/train a novice operator for teleoperation. In multilateral systems, existence of multiple robots and multiple communication channels between robots poses difficulties in the analysis of stability and control design. Because of the distributed nature of the problem, and especially in the presence of time delays in the communication links between robots, stability of the networked system becomes harder to guarantee. This article presents a method for checking the L 2 stability of multilateral teleoperation systems with N robots and symmetric or asymmetric time delays between them. Following this, a scalable four-channel-based distributed control law is proposed under the light of the proposed stability criterion which can guarantee delay-independent stability and enable highperformance haptic teleoperation. Furthermore, robust stability of the proposed control architecture is shown using analysis. Finally, theoretical results are validated with experiments that include comparisons of the proposed method with two-channel-based passive and absolutely stable systems.

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Section: Controller Design For Multilateral Teleoperation Systems Witmentioning

confidence: 99%

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

Tümerdem

2017

International Journal of Advanced Robotic Systems

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“…Lemma 2: Consider the system (1) with the shared-control input (11), (13), (14). Let (p(t), θ(t)) be a trajectory of the system.…”

Section: B Shared Control Theoremmentioning

confidence: 99%

“…Theorem 1: Consider the kinematic model (1) of a mobile robot with a given h-control u h and the shared-control law given by (11)- (13)- (14). Assume the admissible configuration set P a is defined by (3), p(0) ∈ P a and the Ω-limit set Ω h of the h-closed-loop is safe, i.e.…”

Section: B Shared Control Theoremmentioning

confidence: 99%

“…The control authority shared between a human operator and a feedback controller is similar to that shared between two operators, which is commonly used in training systems [13]. For example, the paper [14] has quantified how much the interaction between two users and a slave robot, as well as the environment, occurs in a dualuser teleoperation system through a dominance factor which is chosen by means of experimental trials.…”

Section: Introductionmentioning

confidence: 99%

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Shared-control for the kinematic model of a mobile robot

Jiang

Astolfi

2014

53rd IEEE Conference on Decision and Control

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“…However, one must note that various combinations of authority sharing and teleoperation control laws exist and α = 1 2 is only an artifact of using CLC authority sharing laws in conjunction with position-position teleoperation control laws. For instance, by changing the authority sharing laws (24) to the masters-correspondence-withenvironment-transfer (MCET) law proposed in [21], for the same dynamics for the master and the slave and the same position-position control laws as in Section IV.A, the symmetrization condition (16) holds for any α because Z 13 Z 21 Z 32 − Z 12 Z 23 Z 31 is identical to zero.…”

Section: Direct Stability Analysis Of the Three-port Networkmentioning

confidence: 99%

Absolute Stability of a Class of Trilateral Haptic Systems

Tavakoli

Huang

2014

IEEE Trans. Haptics

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Abstract-Trilateral haptic systems can be modeled as three-port networks. We present a criterion for absolute stability of a general class of three-port networks. Traditionally, existing (i.e., Llewellyn's) criteria have facilitated the stability analysis of bilateral haptic systems modeled as two-port networks. If the same criteria were to be used for stability analysis of a three-port network, its third port termination would need to be assumed known for it to reduce to a two-port network. This is restrictive because, for absolute stability, all three terminations of the three-port network must be allowed to be arbitrary (while passive). Extending Llewellyn's criterion, we present closed-form necessary and sufficient conditions for absolute stability of a general class of three-port networks. We first find a symmetrization condition under which a general asymmetric impedance (or admittance) matrix Z 3×3 has a symmetric equivalent Zeq from a network stability perspective. Then, via the equivalence of passivity and absolute stability for reciprocal networks, an absolute stability condition for the original nonreciprocal network is derived. To demonstrate the convenience and utility of using this criterion for both analysis and design, it is applied to the problem of designing stabilizing controllers for dual-user haptic teleoperation systems, with simulations and experiments validating the criterion.Index Terms-Three-port network, trilateral haptic system, absolute stability.

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Dual-User Teleoperation Systems: New Multilateral Shared Control Architecture and Kinesthetic Performance Measures

Cited by 91 publications

References 30 publications

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

Shared-control for the kinematic model of a mobile robot

Absolute Stability of a Class of Trilateral Haptic Systems

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Dual-User Teleoperation Systems: New Multilateral Shared Control Architecture and Kinesthetic Performance Measures

Cited by 91 publications

References 30 publications

Multilateral teleoperation under asymmetric time delays: L2 stability and robustness

Multilateral teleoperation under asymmetric time delays: L2 stability and robustness

Shared-control for the kinematic model of a mobile robot

Absolute Stability of a Class of Trilateral Haptic Systems

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Product

Resources

About

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness