Optimized power modulation in wave based bilateral teleoperation

Ferraguti, Federica; Bonfè, Marcello; Fantuzzi, Cesare; Secchi, Cristian

doi:10.1109/tmech.2020.3013978

Cited by 15 publications

(2 citation statements)

References 36 publications

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“…Various bilateral control systems have been actively studied in recent years as one of such technologies [3]- [6]. The bilateral control system comprises two pairs of robots: master and slave.…”

Section: A Background Of This Studymentioning

confidence: 99%

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Nagatsu

2024

IEEE Access

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In a bilateral control system, reducing the information-transmission channel between the master and slave systems has advantages, such as suppressing data traffic, reducing stored data, and simplifying the control-system design. The position/force hybrid-control-type bilateral control system can realize stable and highly transparent bilateral control; however, it requires four transmission channels between the master and slave systems to transmit position and force information. Several types of conventional two-channel controllers are difficult to contact and operate. A two-channel controller with equivalent performance to the four-channel controller exists, but it still requires local position control loops. Therefore, this study proposes a force-symmetric type two-channel bilateral control system based on force control systems with robust acceleration controllers using second-order disturbance observers (DOBs) among higher-order DOBs. Bilateral control systems have two control goals: synchronization of the position of the master-slave system, which is a position-related control goal, and artificial realization of the law of action-reaction between the master-slave system, which is a force-related control goal. Methods using low-order DOBs, such as zeroand first-order DOBs, cannot achieve the position-related control goal. In contrast, the proposed method can achieve both position and force control goals simultaneously, even though it only has force transmission channels and control loops. This study also shows that the performance of the proposed two-channel bilateral control system is equivalent to that of a four-channel bilateral control system that transmits both position and force information. The effectiveness of the proposed method was confirmed through bilateral-control experiments in the joint space and workspace.

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Section: A Background Of This Studymentioning

confidence: 99%

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Nagatsu

2024

IEEE Access

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“…Such a wavevariable transformation can stabilize the four-channel bilateral controller [32] but, it can quickly skew position tracking of teleoperators, suffers from wave reflection which can result in unpredictable disturbances, and cannot guarantee system passivity in the presence of time-varying delays, jitter, or data loss [33]. This remains a foundation of numerous wave-based controllers, improving robustness to time-varying delays or packet losses [34] and force/velocity tracking [35].…”

Section: Introductionmentioning

confidence: 99%

Local Autonomy-Based Haptic-Robot Interaction With Dual-Proxy Model

2022

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We present a new paradigm for performing remote haptic-robot interactive operations. The new paradigm is anchored on an architecture that combines local autonomy with a high-level exchange strategy of reference input. This represents a departure from the conventional reliance on direct exchange of low-level control signals in a global feedback control system. The new approach establishes two local autonomous controllers acting on the robot and the haptic device, interfaced at a higher level via a dual-proxy model. The dual proxy is a passive bridge between the local autonomous controllers. It generates appropriate motion and force reference inputs that are consistent with the task physical interactions and the levels of autonomy. Its model is adjusted online with respect to exchanged position, contact, and environment geometry information. A key component in this methodology is the perception algorithm on the robot side, the Force-Space Particle Filter, designed to reliably estimate in real time the environment contact geometry. The series of simulations and physical experimental validations of the approach demonstrate the transparency and high fidelity in haptic-robot interaction and its inherent robustness to communication delays.

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A Review on Haptic Bilateral Teleoperation Systems

Nahri

Wyk

2021

J Intell Robot Syst

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Optimized power modulation in wave based bilateral teleoperation

Cited by 15 publications

References 36 publications

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Force-Symmetric Type Two-Channel Bilateral Control System Based on Higher-Order Disturbance Observer

Local Autonomy-Based Haptic-Robot Interaction With Dual-Proxy Model

A Review on Haptic Bilateral Teleoperation Systems

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