On Extending the Wave Variable Method to Multiple-DOF Teleoperation Systems

Alise, M.; Roberts, Rodney G.; Repperger, D.W.; Moore, Carl A.; Tosunoglu, Sabri

doi:10.1109/tmech.2008.2006181

Cited by 34 publications

(15 citation statements)

References 24 publications

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“…The stability analysis for wave variable method introduced in [12−14] was established for the single degree of freedom (DOF) linearized master and slave manipulators. Alise et al [15] extended such wave variable mechanism to multiple-DOF systems. In [16,17], authors presented teleoperation systems in the presence of time varying communication delays.…”

Section: Introductionmentioning

confidence: 99%

Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

Islam

Liu

Saddik

et al. 2014

Int. J. Autom. Comput.

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Abstract:In this paper, the problem of time varying telecommunication delays in passive teleoperation systems is addressed. The design comprises delayed position, velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators. Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators. Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems. The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites. Finally, evaluation results are presented to illustrate the effectiveness of the proposed design for real-time applications.

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Section: Introductionmentioning

confidence: 99%

Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

Islam

Liu

Saddik

et al. 2014

Int. J. Autom. Comput.

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“…The predictive control based approaches well compensates the time delay affectively by improving performance but require slave site information [3], [4]. Very limited approaches, therefore, have been extended from single to m-DOF haptic teleoparaion notably wave variable (WV) [3], [5], Linear Quadratic Gaussian (LQG) [6] and passivity [7]. Munir and Book [3] proposed a combination of wave variable with prediction for m-DOF teleoperation systems to enhance performance.…”

Section: Introductionmentioning

confidence: 99%

“…Munir and Book [3] proposed a combination of wave variable with prediction for m-DOF teleoperation systems to enhance performance. On the other hand, Alise et al [5] presented the straight forward extension of wave variable approach. Model mis-match in the [3] can destabilize the overall teleoperation until some extra passivity enforcing regulator is used.…”

Section: Introductionmentioning

confidence: 99%

“…Model mis-match in the [3] can destabilize the overall teleoperation until some extra passivity enforcing regulator is used. Both the approaches [3], [5] suffer position drift due to wave variable inherent nature [3] and finite computational time too [5]. Daly and Wang [8] proposed bilateral teleoperation utilizing sliding mode controller (SMC) to estimate the reflected force for n-DOF nonlinear robots in the presence of time delays.…”

Section: Introductionmentioning

confidence: 99%

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Model predictive energy-bounding approach for the perception of multiple degree-of-freedom objects in bilateral teleoperation with online geometry and parameter of remote environment: A feasibility test

Uddin¹,

Park

Baek³

et al. 2013

2013 13th International Conference on Control, Automation and Systems (ICCAS 2013)

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This paper presents a feasibility of model predictive energy-bounding approach (EBA) for multiple degree-of-freedom (m-DOF) bilateral teleoperation with adaptive information of slave site. The idea uses model-based prediction of m-DOF slave site dynamic parameter and geometry adaptively on the master site. In this regards, the non-delayed feedback force is obtained from updated dynamic model (of slave site) at master site by knowing the stiffness and geometry and then the force obtained from this model is robustly stabilized by EBA at master side before presented it to the human operator. The significance of the proposed approach is shown with the 3-00F circularly-engraved environment via real experimentation with force-controlled master and position-controlled slave.

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“…This mode requires complete attention of the human operator during the whole operation and every single decision is made by the operator and the robot has zero intelligence. 4,5 In semi-autonomous mode, the human and the robot collaboratively control parts of the functions required to accomplish the goal. The amount of functions left to the robot depends on the level of robot intelligence, in most scenarios the repetitive, low-level tasks are handled by robots and only few high-level tasks and decisions making steps are handled by humans.…”

Section: Introductionmentioning

confidence: 99%

Validating extended neglect tolerance model for human robot interactions in humanoid soccer robots

Mohan

Wijesoma²,

Calderón

et al. 2010

Robotica

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Estimating robot performance in human robot teams is a vital problem in human robot interaction community. In a previous work, we presented extended neglect tolerance model for estimation of robot performance, where the human operator switches control between robots sequentially based on acceptable performance levels, taking into account any false alarms in human robot interactions. Task complexity is a key parameter that directly impacts the robot performance as well as the false alarms occurrences. In this paper, we validate the extended neglect tolerance model for two robot tasks of varying complexity levels. We also present the impact of task complexity on robot performance estimations and false alarms demands. Experiments were performed with real and virtual humanoid soccer robots across tele-operated and semi-autonomous modes of autonomy. Measured false alarm demand and robot performances were largely consistent with the extended neglect tolerance model predictions for both real and virtual robot experiments. Experiments also showed that the task complexity is directly proportional to false alarm demands and inversely proportional to robot performance.

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On Extending the Wave Variable Method to Multiple-DOF Teleoperation Systems

Cited by 34 publications

References 24 publications

Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

Model predictive energy-bounding approach for the perception of multiple degree-of-freedom objects in bilateral teleoperation with online geometry and parameter of remote environment: A feasibility test

Validating extended neglect tolerance model for human robot interactions in humanoid soccer robots

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