Free and constrained motion teleoperation via naturally-transitioning rate-to-force control

Williams, Robert L.; Henry, Jason M.; Murphy, Mark A.; Repperger, D. W.

doi:10.1109/robot.1999.769975

Cited by 9 publications

(2 citation statements)

References 12 publications

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“…When employed, the manipulator is typically rate-controlled in free motion. Upon contact the sensed force is converted into a velocity value, and an error is computed between the commanded end effector velocity and the converted velocity; when no contact force exists the commanded velocity is simply unmodified (see [16] and [17] for details). FMA is attractive for space-based tasks where it can be used to limit peak contact forces and ensure precise alignment during insertion operations.…”

Section: Chapter 9 Conclusionmentioning

confidence: 99%

A reach control approach to bumpless transfer of robotic manipulators

Martino

Broucke

2014

53rd IEEE Conference on Decision and Control

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This thesis focuses on the modelling, control design, and simulations for executing a robotic manipulation task to approach and maintain contact with a solid environment. The task involves a transition between position and force control, which may result in bouncing. This thesis shows that the bumpless transfer problem (achieving no bouncing) can be formulated and solved using the reach control problem (RCP), a methodology that emphasizes the control of transient behaviour. To that end, analysis of a given force control scheme leads to the formulation of logic control specifications (a tool used in RCP designs), and a polytopic state space P that restricts the manipulator states to trajectories that achieve bumpless transfer.Then, a hybrid controller is developed which consists of so-called reach controllers, a given force controller, and a switching logic. Finally, the proposed methodology is simulated for the Special Purpose Dextrous Manipulator, which executes the task without bouncing.ii

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Section: Chapter 9 Conclusionmentioning

confidence: 99%

A reach control approach to bumpless transfer of robotic manipulators

Martino

Broucke

2014

53rd IEEE Conference on Decision and Control

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“…Kim et al proposed shared compliance control to improve the usability of teleoperation with communication delay [22], [23]. Williams et al developed naturally transitioning rate-to-force control to address free and constrained motions [24], [25]. However, the contact force does not have an upper bound in the control schemes presented in these studies because their applications were assumed to be industrial uses.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery

Osa

Uchida

Sugita

et al. 2015

IEEE/ASME Trans. Mechatron.

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Teleoperated surgical systems have great potential to improve the performance of surgeons, and their use has spread worldwide in recent years. However, there are some issues that need to be resolved to make robotic surgery more reliable. For instance, the safety of current teleoperated surgical systems is dependent on the performance of the human operator, but human operators can sometimes commit errors. Therefore, a mechanism to ensure the safety of teleoperated surgery should be developed. This paper presents a hybrid system for rate control and admittance control for use in bilateral teleoperation. The proposed control system autonomously avoids excessive contact forces by switching between the rate control mode and the admittance control mode in a stable manner. The stability of the proposed control scheme was analyzed, and the system was found to be able to keep the contact force within an acceptable range. The performance of the proposed control scheme was verified through simulations and experiments. The results of the experiments and simulations showed that the proposed control scheme makes it possible to avoid excessive contact force in a stable manner.

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Force/moment accommodation control for tele-operated manipulators performing contact tasks in stiff environment

Aghili

Dupuis²,

Martín³

et al.

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics I

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This paper analysis the performance and Stability of a force/moment accommodation (FMA) loop closed around a joint rate controller. A synthesis methodology is given to select the gains of the accomrnodation controller. The bandwidth and coupling limitations of the FMA control architecture are discussed. It is shown that the closed-loop FMA ezhibits natural decouplzng when FMA acts on the "tmnspose Jacobian rate" controller. The theoretical development in this paper are supported by simulation and ezperimental results.

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Free and constrained motion teleoperation via naturally-transitioning rate-to-force control

Cited by 9 publications

References 12 publications

A reach control approach to bumpless transfer of robotic manipulators

A reach control approach to bumpless transfer of robotic manipulators

Hybrid Rate—Admittance Control With Force Reflection for Safe Teleoperated Surgery

Force/moment accommodation control for tele-operated manipulators performing contact tasks in stiff environment

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