Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays

Abstract

A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.

Single Master Bimanual Teleoperation System With Efficient Regulation

“…Unlike the majority of multirobot systems in previous studies (e.g. [1], [16], [17], [23]- [26], [28]- [30], [44]) focusing on motion synchronization, the proposed SMBT allows the dual-arm slave robots driven by one master to simultaneously conduct different motions according to different task requirements.…”

“…In this section, we discuss how to derive the transmitted reference force F htr , F e2tr and F e1tr for further force controller setup. For the force control during decoupled motion, due to the different positions and orientations of the robots, simultaneously transmitting the human force to all the slave robots and simultaneously feeding all the slave's force back to the master as in [16], [33] is likely to apply inaccurate force to the task, and the operator may obtain unreal force feedback. In fact, the bimanual slave robotic system can be imagined as the two hands of our bodies.…”

“…Nevertheless, significant contributions have been made to delay-based stability and motion synchronization in previous studies. For example, to guarantee the stability of a bimanual system, passivity-based approaches were explored in [16]- [19]. Furthermore, the coupled stability of multilateral linear systems was analyzed in [20], [21].…”

Simultaneous Presentation of Thermal and Tactile Sensations Using Multilateral Control under Time Delay

“…By calculating the inverse matrices of (12) and (13), the inverse mapping matrices corresponding to (12) and (13) can be derived. In case of the perfect implementation, it is required to calculate the inverse of the determinant which is shown in (16) that is placed at the top of this page. It is difficult to implement the determinant; therefore, in this paper, the determinant is implemented as 1.…”

“…As for multilateral teleoperation, there is a multilateral control system aiming for stabilizing based on the concept of passivity (15) . Force reverse presentation control was proposed in (16) , while (17) proposed the control system using wave variable. There are other research which consider the connectivity of subsystems to reduce the operational force of a system (18) .…”