Position and Force Control of Bilateral Teleoperation Systems With Time-varying Delays Based on Force Estimation

Wu, You; Liu, Xia; Yang, Yong

doi:10.1007/s12555-022-0891-0

Int. J. Control Autom. Syst.

2024

DOI: 10.1007/s12555-022-0891-0

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Position and Force Control of Bilateral Teleoperation Systems With Time-varying Delays Based on Force Estimation

You Wu,

Xia Liu,

Yong Yang

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Cited by 2 publications

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Teleoperation system for multiple robots with intuitive hand recognition interface

Zick,

Martinelli,

Schneider de Oliveira

et al. 2024

Sci Rep

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Robotic teleoperation is essential for hazardous environments where human safety is at risk. However, efficient and intuitive human–machine interaction for multi-robot systems remains challenging. This article aims to demonstrate a robotic teleoperation system, denominated AutoNav, centered around autonomous navigation and gesture commands interpreted through computer vision. The central focus is on recognizing the palm of the hand as a control interface to facilitate human–machine interaction in the context of multi-robots. The MediaPipe framework was integrated to implement gesture recognition from a USB camera. The system was developed using the Robot Operating System, employing a simulated environment that includes the Gazebo and RViz applications with multiple TurtleBot 3 robots. The main results show a reduction of approximately 50% in the execution time, coupled with an increase in free time during teleoperation, reaching up to 94% of the total execution time. Furthermore, there is a decrease in collisions. These results demonstrate the effectiveness and practicality of the robotic control algorithm, showcasing its promise in managing teleoperations across multi-robots. This study fills a knowledge gap by developing a hand gesture-based control interface for more efficient and safer multi-robot teleoperation. These findings enhance human–machine interaction in complex robotic operations. A video showing the system working is available at https://youtu.be/94S4nJ3IwUw.

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Teleoperation system for multiple robots with intuitive hand recognition interface

Zick,

Martinelli,

Schneider de Oliveira

et al. 2024

Sci Rep

View full text Add to dashboard Cite

show abstract

Stability Analysis and Experimental Validation of Standard Proportional-Integral-Derivative Control in Bilateral Teleoperators with Time-Varying Delays

Arteaga,

Guajardo-Benavides,

Sánchez-Sánchez

2024

Algorithms

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The control of bilateral teleoperation systems with time-varying delays is a challenging problem that is frequently addressed with advanced control techniques. Widely known controllers, like Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID), are seldom employed independently and are typically combined with other approaches, or at least with gravity compensation. This work aims to address a gap in the analysis of bilateral systems by demonstrating that the standard PID control law alone can achieve regulation in these systems when a human operator moves any of the robots while exchanging delayed positions. Experimental results are consistent with the theoretical analysis. Additionally, to illustrate the high degree of robustness of the standard PID, further experiments are conducted in constrained motion, both with and without force feedback.

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Position and Force Control of Bilateral Teleoperation Systems With Time-varying Delays Based on Force Estimation

Cited by 2 publications

References 22 publications

Teleoperation system for multiple robots with intuitive hand recognition interface

Teleoperation system for multiple robots with intuitive hand recognition interface

Stability Analysis and Experimental Validation of Standard Proportional-Integral-Derivative Control in Bilateral Teleoperators with Time-Varying Delays

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