Full-Dynamics-Based Bilateral Teleoperation of Hydraulic Robotic Manipulators

Lampinen, Santeri; Koivumäki, Janne; Mattila, Jouni

doi:10.1109/coase.2018.8560444

Cited by 9 publications

(16 citation statements)

References 24 publications

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“…The method to connected the separately controlled master and slave plants for the force-reflected bilateral teleoperation is discussed in Section III-C. The detailed control designs for the hydraulic slave manipulator and electric master manipulator can be found in [8] and [18], [19].…”

Section: A Control Methodsmentioning

confidence: 99%

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Learning from Demonstration for Hydraulic Manipulators

Suomalainen¹,

Koivumäki

Lampinen

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents, for the first time, a method for learning in-contact tasks from a teleoperated demonstration with a hydraulic manipulator. Due to the use of extremely powerful hydraulic manipulator, a force-reflected bilateral teleoperation is the most reasonable method of giving a human demonstration. An advanced subsystem-dynamic-based control design framework, virtual decomposition control (VDC), is used to design a stability-guaranteed controller for the teleoperation system, while taking into account the full nonlinear dynamics of the master and slave manipulators. The use of fragile force/ torque sensor at the tip of the hydraulic slave manipulator is avoided by estimating the contact forces from the manipulator actuators' chamber pressures. In the proposed learning method, it is observed that a surface-sliding tool has a friction-dependent range of directions (between the actual direction of motion and the contact force) from which the manipulator can apply force to produce the sliding motion. By this intuition, an intersection of these ranges can be taken over a motion to robustly find a desired direction for the motion from one or more demonstrations. The compliant axes required to reproduce the motion can be found by assuming that all motions outside the desired direction is caused by the environment, signalling the need for compliance. Finally, the learning method is incorporated to a novel VDC-based impedance control method to learn compliant behaviour from teleoperated human demonstrations. Experiments with 2-DOF hydraulic manipulator with a 475kg payload demonstrate the suitability and effectiveness of the proposed method to perform learning from demonstration (LfD) with heavy-duty hydraulic manipulators.

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Section: A Control Methodsmentioning

confidence: 99%

“…The designed force-reflected bilateral teleoperation system is identical with the system presented in [18], [19]. Individual NMB controllers are designed for both master and slave manipulator according to VDC design principles defined in section III-A.1.…”

Section: Teleoperationmentioning

confidence: 99%

Learning from Demonstration for Hydraulic Manipulators

Suomalainen¹,

Koivumäki

Lampinen

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…In this study, the results of [22] and [23] are used as the foundation for designing a theoretically sound high-precision bilateral teleoperation control for significantly asymmetric systems. In [23], preliminary attempts for full-dynamics-based bilateral teleoperation for an asymmetric hydraulic/electric system were demonstrated, while in [24], artificial constraints in the task space were implemented. However, in-depth stability analysis and theoretical discussions were not included in [23] nor in [24].…”

Section: A Aim and Contributionmentioning

confidence: 99%

“…In [23], preliminary attempts for full-dynamics-based bilateral teleoperation for an asymmetric hydraulic/electric system were demonstrated, while in [24], artificial constraints in the task space were implemented. However, in-depth stability analysis and theoretical discussions were not included in [23] nor in [24].…”

Section: A Aim and Contributionmentioning

confidence: 99%

“…To improve the preliminary theory and control performance reported in [23], the following distinguishable contributions are demonstrated in this study: A commercial haptic manipulator is used as the master manipulator, while a hydraulic loader crane complemented with a 500-kg dummy load at the TCP is used as the slave manipulator.…”

Section: A Aim and Contributionmentioning

confidence: 99%

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Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master–Slave System With Arbitrary Scaling

Lampinen

Koivumäki

Zhu

et al. 2022

IEEE Trans. Contr. Syst. Technol.

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This study designs a high-precision bilateral teleoperation control for a dissimilar master-slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of individual (decentralized) model-based controllers for the manipulators locally at the subsystem level. Very importantly, a dynamic model of the human operator is incorporated into the control of the master manipulator. The individual controllers for the dissimilar master and slave manipulators are connected in a specific communication channel for the bilateral teleoperation to function. Stability of the overall control design is rigorously guaranteed with arbitrary time delays. Novel features of this study include the completely force-sensor-less design for the teleoperation system with a solution for a uniquely introduced computational algebraic loop, a method of estimating the exogenous operating force of an operator and the use of a commercial haptic manipulator. Most importantly, we conduct experiments on a dissimilar system in two degrees of freedom (DOFs). As an illustration of the performance of the proposed system, a force scaling factor of up to 800 and position scaling factor of up to 4 was used in the experiments. The experimental results show an exceptional tracking performance, verifying the real-world performance of the proposed concept.

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