Model-Mediated Teleoperation: Toward Stable and Transparent Teleoperation Systems

Xu, Xiao; Çizmeci, Burak; Schuwerk, Clemens; Steinbach, Eckehard

doi:10.1109/access.2016.2517926

Cited by 79 publications

(57 citation statements)

References 107 publications

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“…A transition state in MMT refers to a period that a model mismatch between local model and actual environment is existing. 12 Using estimated a model of remote environment, which include both geometric properties and contact dynamics, the operator could interact with local model rather than remote environment and thus could percept non-delayed force feedback. Theoretically, the teleoperation system can obtain ideal transparency in the presence of arbitrary time delay if the local model is identical with real remote environment.…”

Section: Introductionmentioning

confidence: 99%

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Model-mediated teleoperation with improved stability

Song

Ding

Shang

et al. 2018

International Journal of Advanced Robotic Systems

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Model-mediated teleoperation has been developed to improve both transparency and stability in teleoperation. It uses local model of remote environment to provide non-delayed force feedback rather than using delayed force signals from slave side and thus is robust to arbitrary time delay. However, updating parameters in the local model may cause sudden force change during the operation. Meanwhile, the undesirable deep penetration or overlarge contact force may occur on the slave side due to the modeling error. Both of them will jeopardize the system stability. In this article, we propose a novel force-based model updating algorithm, which restrains the abrupt force caused by parameter updating. The update efficiency has been greatly improved by comparing with the existing solution; meanwhile, it ensures a stable humanmachine interaction at the same time. Then, a new adaptive impedance controller that restricts both overlarge force and penetration is introduced. The obtained results on a one-degree of freedom contact experiment with a delay of 5 s demonstrate the superiority of proposed approaches in comparison with state-of-the-art methods.

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Section: Introductionmentioning

confidence: 99%

“…Different from conventional bilateral teleoperation algorithms, the MMT leads to the two subsystems and its stability condition is easy to meet. The study by Xu et al 12 provides more details about MMT. The application and extension of MMT have attracted much attention and its most problems are at least partly solved.…”

Section: Introductionmentioning

confidence: 99%

Model-mediated teleoperation with improved stability

Song

Ding

Shang

et al. 2018

International Journal of Advanced Robotic Systems

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“…The term steady state is adopted from [8] and by that, we mean the time when the slave robot is not experiencing new contact with an environment. In other words, the slave robot either is in free motion or has previously encountered a new environment and is now just maintaining the contact.…”

Section: Control Approach and Stability Analysis 41 Controller Desimentioning

confidence: 99%

“…The term transition state is adopted from [8] and by that, we mean the initial time of interaction with a new environment. In this situation as mentioned before, the system may experience large contact forces which may be extremely detrimental to it.…”

Section: Controller Design For Transition Statementioning

confidence: 99%

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Increasing stability in model-mediated teleoperation approach by reducing model jump effect

Yazdankhoo

Beigzadeh

2017

Scientia Iranica

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Model-mediated teleoperation is a predictive control approach for controlling haptic teleoperation systems whereby the environment force is virtually located on master side in order to increase the stability and transparency of the system. This promising approach, however, results in new challenges. One pivotal challenge is the model jump effect, which stems from the delay in correct creation of the virtual environment. Previous works have endeavored to reduce this effect; however, they either led to transparency decrease or assumed simplified environment models. In this paper, we propose a control approach for this aim based on the idea of decoupling. This means that when a new environment has been identified, the operation is interrupted and no signal is transmitted between master and slave sides. During this time, both sides are controlled by their own sliding mode controllers until the system reaches stability. The main advantage of this method is its independence from environment type, which makes it usable for different kinds of applications. To verify the effectiveness of the proposed approach simulation tests are conducted. The results show the system is stable in interaction with hard and soft environments in presence of large time delays in communication channels.

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