Passivity-based teleoperation system for robots with parametric uncertainty and communication delay

Design and implementation of a three-axis force sensor for applications to bilateral teleoperation systems

“…Furthermore, comparison of forces from the human operator and remote environment were made to show the validation of the force measurement. Moreover, by using the force sensor, the reflective force was demonstrated to be close to the environmental force for the teleoperation system in steady state akin to the theoretical and simulation results addressed in [27].…”

“…The proposed force sensor is utilized in this paper for experimental validations of a bilateral teleoperation control scheme studied in [27]. Since the installation of force sensor on a manipulator will change the robotic structure and parameters, both kinematic and dynamic uncertainties are taken into account in the bilateral teleoperators.…”

“…Moreover, the presence of communication delays, which will render the closed-loop control system unstable, is also considered in the control system. The details of the bilateral teleoperation system and control algorithm can be referred to [27].…”

“…The experiment is conducted to validate force feedback performance in the bilateral teleoperators. The algorithm fulfil in programming C, constant time delay are accomplished with first-input-first-output (FIFO) buffer in programming [27]. The dynamic and kinematic model of PHANToM Omni device are derived in [28].…”

“…Moreover, a wall is placed in the remote environment that will provide an external force to the remote robot if the sensing point of the force sensor contact the wall. By using the control algorithms developed in [27], the experimental results are illustrated in Figs. 8 to 10. In the experiment, the human operator moves the local robot from one set-point to another, and the remote robot contacts the wall between t = 15 ∼ 34sec, t = 45 ∼ 60sec, and t = 75 ∼ 90sec.…”