Improvement of Force Transmission Performance Considering Nonlinear Friction in Bilateral Control Systems

Seki, Kenta; Fujihara, Shota; Iwasaki, Makoto

doi:10.1016/j.ifacol.2017.08.2138

Cited by 4 publications

(5 citation statements)

References 17 publications

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“…Equations (32) and (33), once given on acceleration controllable plants, enforce the master and slave systems accomplish the tracking objectives given in (18) and (19). Besides the controller gains w 1 , w 2 , y 1 , and y 2 , parameters σ 1 , σ 2 , and σ 3 provide further flexibility in controller design.…”

Section: Derivation Of Bilateral Controllermentioning

confidence: 99%

“…Another contribution to improve the force response was presented in ref. [33], where the non-linear friction force of the manipulators are subtracted from the operational force in order to improve the force control performance. Despite the relative improvements given in that study, the proposed method was not analyzed for applications considering rapid change of forces.…”

Section: Introductionmentioning

confidence: 99%

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Performance improvement of bilateral control systems using derivative of force

Baran

Uzunović²,

Şabanoviç³

2018

Robotica

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SUMMARYThis paper proposes a bilateral control structure with a realization of the force derivative in the control loop. Due to the inherent noisy nature of the force signal, most teleoperation schemes can make use of only a proportional (P) control structure in the force channel of the bilateral controllers. In the proposed scheme, an α–β–γ filter is designed to smoothly differentiate the force signal obtained from a reaction force observer integrated to both of the master and slave plants. The differentiated force signal is then used in a proportional-derivative (PD) force controller working together with a disturbance observer. In order to design the overall bilateral controller, an environment model based on pure spring structure is assumed. The controller is designed to enforce an exponentially decaying tracking error for both position and force signals. With the presented controller design approach, one can independently tune the controller gains of the force and the position control channels. The proposed approach is experimentally tested in a platform consisted of direct drive linear motors. As illustrated by the experiment results, the contribution of the PD control in the force channel improves the teleoperation performance especially under hard-contact motion scenarios by attenuating the oscillations, hence, improving the transparency when compared to the structures using only a P force control.

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Section: Derivation Of Bilateral Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Performance improvement of bilateral control systems using derivative of force

Baran

Uzunović²,

Şabanoviç³

2018

Robotica

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“…Industrial robots have important friction and damping coefficients [10]. Depending on the number of channels of the teleoperation system, this disadvantage can be canceled to obtain ideal transparency at steady states [11].…”

Section: Introductionmentioning

confidence: 99%

Bilateral teleoperation transparency at transient states

Robet

Devie

Aoustin

et al. 2021

2021 14th IEEE International Conference on Industry Applications (INDUSCON)

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To perform an epidural, a needle is inserted through the patient's skin and guided between the patient's vertebrae to the yellow ligament, which is resistant. Once the yellow ligament has passed, the needle must stop so that the anesthetic fluid in the epidural space can be injected. What makes this operation complicated is that the resistance of the yellow ligament varies greatly depending on the patient's physiognomy. To enhance the sensations of the anesthetist, we proposed to use a bilateral teleoperation system. The anesthetist manipulates a master arm while a needle is fixed on the slave arm to perform the epidural operation. In this paper, we discuss the tuning of the gains to reach ideal transparency at steady and transient states. Transparency depending on the number of control channels is calculated with the Hannaford matrix. Building on previous works, a new modeling, which allows extremely simple equations, is presented and a new experimental test-bed is proposed.

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“…There, an acceleration-based impedance control law is used in a teleoperation scenario for fast environmental stiffness estimations with a time delay. In [12] a bilateral teleoperation control is improved by considering a non-linear model for the perturbation observer.…”

Section: Introductionmentioning

confidence: 99%

A cascaded loop structure in force and position to control a bilateral teleoperation robotic system

Devie

Robet

Aoustin

et al. 2019

2019 6th International Conference on Control, Decision and Information Technologies (CoDIT)

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A cascaded force and position control is implemented on each of two robots of a bilateral teleoperation system. The aim is to propose a classical frequency approach in order to tune the closed-loop of each robot for different operating modes. Thus an efficient four channel bilateral teleoperation controller is proposed. It can be decomposed into four different two channel controller variations that can introduce inner virtual flexibility. This virtual flexibility is calculated for each case and can be tuned with the gains of the position control of the robots. An original way to calculate the apparent impedance is provided.

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Improvement of Force Transmission Performance Considering Nonlinear Friction in Bilateral Control Systems

Cited by 4 publications

References 17 publications

Performance improvement of bilateral control systems using derivative of force

Performance improvement of bilateral control systems using derivative of force

Bilateral teleoperation transparency at transient states

A cascaded loop structure in force and position to control a bilateral teleoperation robotic system

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