Force reflection for time-delayed teleoperation of Space robots

Peñín, Luis F.; Matsumoto, Kohtaro; Wakabayashi, Shigeo

doi:10.1109/robot.2000.845143

Cited by 50 publications

(19 citation statements)

References 11 publications

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“…Very recently, for ground teleoperation of a space robot, reflected force was successfully used to improve the performance of the operator despite time delay (Peñin, Matsumoto, & Wakabayashi, 2000). Also, an algorithm has been implemented based on virtual springs in force-feedback teleoperation to keep a Stewart platform inside the useful workspace (Rubio, Avello, & Florez, 2000).…”

Section: Resultsmentioning

confidence: 99%

Multioperator Teleoperation of Multirobot Systems with Time Delay: Part II—Testbed Description

Chong

Kotoku²,

Ohba³

et al. 2002

Presence: Teleoperators & Virtual Environments

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The Mechanical Engineering Laboratory (MEL) 1 has been developing coordinated control technologies for multi-telerobot cooperation in a common environment remotely controlled from multiple operators physically distant from each other. Previously, we learned about how the transmission delay over the network deteriorates the performance of telerobots through simulations. To overcome the operator's delayed visual perception arising from network throughput limitations, we have suggested several coordinated control aids at the local operator site. The testbed facilitates experiments with physical robots for validation beyond simulation. This paper mainly discusses the details of the testbed and investigates the use of an online predictive simulator to assist the operator in coping with time delay over the network. Practically, a common data relay station is suggested to reduce the travel distance of the master data over the network and enable multirobot predictive simulation at one's master station. Operators control their master to get their telerobot to cooperate with the counterpart telerobot using the predictive simulator as well as video image feedback. Specifically, exploiting the audio-visual resources of the simulator, operators can detect a priori the possibility of collision and coordinate conflicting motions between telerobots. We have demonstrated an object rearrangement task by two telerobots and two operators via an ethernet LAN that is subject to simulated delays and evaluated the validity of the online predictive simulator in Multioperator-Multirobot (MOMR) tele-cooperation.

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Section: Resultsmentioning

confidence: 99%

Multioperator Teleoperation of Multirobot Systems with Time Delay: Part II—Testbed Description

Chong

Kotoku²,

Ohba³

et al. 2002

Presence: Teleoperators & Virtual Environments

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“…The bilateral teleoperation involves dual robots, which can exchange haptic and command signals through networked communication channels [1], [2], [4], [31]. The traditional bilateral teleoperation is composed of a single operator and a controlled slave robot.…”

Section: Introductionmentioning

confidence: 99%

Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints

Xia

Wang

et al. 2016

IEEE Trans. Cybern.

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Abstract-Most studies on bilateral teleoperation assume known system kinematics and only consider dynamical uncertainties. However, many practical applications involve tasks with both kinematics and dynamics uncertainties. In this paper, trilateral teleoperation systems with dual-master-single-slave framework are investigated, where a single robotic manipulator constrained by an unknown geometrical environment is controlled by dual masters. The network delay in the teleoperation system is modeled as Markov chain-based stochastic delay, then asymmetric stochastic time-varying delays, kinematics and dynamics uncertainties are all considered in the force-motion control design. First, a unified dynamical model is introduced by incorporating unknown environmental constraints. Then, by exact identification of constraint Jacobian matrix, adaptive neural network approximation method is employed, and the motion/force synchronization with time delays are achieved without persistency of excitation condition. The neural networks and parameter adaptive mechanism are combined to deal with the system uncertainties and unknown kinematics. It is shown that the system is D. Wang is with the Key Laboratory of Autonomous System and Network Control, Ministry of Education, South China University of Technology, Guangzhou, China, and also with the College of Automation Science and Engineering, South China University of Technology, Guangzhou,

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“…One of the most important issues in such systems is the right balance between fidelity and stability, since they are opposing requirements [29][30][31]. Time delay is also a critical issue in most teleoperation tasks [32,33] and is more important in tele-presence since a larger amount of information is transferred in an ideal setup.…”

Section: Introductionmentioning

confidence: 99%

Visual and haptic collaborative tele-presence

Ansar

Rodrigues

Desai

et al. 2001

Computers & Graphics

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The core of a successful sense of presence is a visually, aurally, and haptically compelling experience. In this paper, we introduce the integration of vision and haptics for the purposes of remote collaboration. A remote station acquires a 3D-model of an object of interest which is transmitted to a local station. A user in the local station manipulates a virtual and the remote object as if he/she is haptically and visually at the remote station. This tele-presence feeling is achieved by visually registering the head-mounted display of the local user to the remote world and by dynamically registering the local object both visually and haptically with respect to the remote world. This can be achieved by adequate modeling and feedforward compensation including gravity compensation for the robotic manipulator with which the operator interacts. We present multiple scenarios where such a capability will be useful. One is remote design where a user tests a remotely designed docking station by inserting a virtual laptop into a model of the 3D docking station transmitted from a remote site. Medical robotics provides another possible scenario in which a resident is given surgical training to perform a virtual laparoscopy on a 3D exterior model of a patient, including tomographic registration of anatomical structures. We present results from numerous experiments from both the visual and haptic aspects as well as in integrated form. r

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Force reflection for time-delayed teleoperation of Space robots

Cited by 50 publications

References 11 publications

Multioperator Teleoperation of Multirobot Systems with Time Delay: Part II—Testbed Description

Multioperator Teleoperation of Multirobot Systems with Time Delay: Part II—Testbed Description

Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints

Visual and haptic collaborative tele-presence

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