Intrinsically passive control in bilateral teleoperation mimo systems

Abstract

In the literature, a number of interesting control schemes has been proposed for telemanipulation robotic systems. Because of the intrinsically non constant and large time delay, due to the communication channel, passivity has been largely used in these schemes in order to achieve stability of the overall teleoperation system. In this paper, the application to this context of a control scheme based on the equivalence with passive physical systems is discussed. This scheme allows to achieve stability and good performances also in cases where the time-delay is not constant. Moreover, the multi-dimensional case is taken into account, considering tasks in which not only linear motions/forces are present but also rotations and torques. Simulation results are presented and discussed.

S Teleoperation System Based on 1-DOF Pneumatic Maipulator

“…This paper presents a novel approach for designing a control scheme for a master-slave system with force feed-back. The difference between figures presenting sensor methods thus far is that, in the case of the proposed control scheme, there are no sensors mediating between the manipulator body and the environment, relative to paper [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19]. The same thing can be noticed in self-sensing piezo-ceramic microcontrollers used for micromanipulation and in [2,20,28,32,41,[43][44][45][46].…”

“…However, as research continued, it was noticed that the operator that enters into interaction with the master subsystem/manipulator should also be able to feel the precise effect of the environment on the slave subsystem side. The problem poses significant challenges in its practical application, due to large distances and the inevitable time delay [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19].…”

“…In 2001, Paula Arcara presented a number of control schemes [18,19], proposed for telemanipulation robotic systems. Because of the intrinsically inconstant and large time delays, due to the communication channel, passivity was largely used in these schemes in order to achieve the stability of the overall teleoperation system.…”

Comparison and Improvement of Control Schemes for Robotic Teleoperation Systems with Time Delay

“…Although in literature methodological tools have been recently proposed for dealing with very complex cases, comprising varying time delays and a full geometrical context, e.g. 6-dimensional architectures ( [15,16] has been used in order to more easily underline the main aspects concerning the choice of a particular control scheme and the selection of its parameters:…”

“…Finally, attention is focused on the intrinsically passive control (IPC) scheme [15]- [16], and it is shown how a proper modification of the basic control law can lead to significant benefits for some of the proposed indices. In particular, the concept of "variable rest length" of a spring is introduced and used, with a passive approach, for the improvement of the transparency of the whole telemanipulation system.…”