Stable Teleoperation With Time-Domain Passivity Control

Ryu, Jee-Hwan; Kwon, Dong‐Soo; Hannaford, Blake

doi:10.1109/tra.2004.824689

Cited by 335 publications

(222 citation statements)

References 23 publications

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“…Nonetheless, these methods are usually used to deal with the worst-case scenario by over-dissipating energy to the extent that transparency is largely decreased. Hannaford et al design an energy-based Time Domain Passivity Approach (TDPA) to adaptively dissipate energy [26]. [27] and [30] extend this method to deal with the time-varying delay issues.…”

Section: Introductionmentioning

confidence: 99%

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Sun

Naghdy

2016

Nonlinear Dyn

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Abstract-A novel approach applying the extended Prescribed Performance Control (PPC) and the wave-based Time Domain Passivity Approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system's passivity is guaranteed in the presence of arbitrary time delays. The system's stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the master-slave system's passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.

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Section: Introductionmentioning

confidence: 99%

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Sun

Naghdy

2016

Nonlinear Dyn

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“…However, investigation of teleoperation system stability using common closed-loop stability analysis tools in the control systems literature is not possible because the models of the human and the environment are usually unknown, uncertain, and/or time-varying. Research has proved it possible to 3 draw stability conditions for a haptic teleoperation system under unknown human and environment as long as they are passive [14], [15], [16], [17], [18]. While this is referred to as absolute or unconditional stability in the literature, for brevity we call it stability in this paper.…”

Section: Introductionmentioning

confidence: 99%

Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom

Tavakoli²,

Huang

2014

IET Control Theory & Applications

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In bilateral teleoperation of a dexterous task, to take full advantage of the human's intelligence, experience, and sensory inputs, a possibility is to engage multiple human arms through multiple masters (haptic devices) in controlling a single slave robot with high degrees-of-freedom (DOF); the total DOFs of the masters will be equal to the DOFs of the slave. A multi-master/single-slave cooperative haptic teleoperation system with w DOFs can be modeled as a two-port network where each port (terminal) connects to a termination defined by w inputs and w outputs. The stability analysis of such a system is not trivial due to dynamic coupling across the different DOFs of the robots, the human operators, and the physical or virtual environments. The unknown dynamics of the users and the environments exacerbate the problem. We present a novel, straightforward and convenient frequency-domain method for stability analysis of this system. As a case study, two 1-DOF and 2-DOF master haptic devices are considered to teleoperate a 3-DOF slave robot. It is qualitatively discussed how such a trilateral haptic teleoperation system may result in better task performance by splitting the various DOFs of a dexterous task between two arms of a human or two humans. Simulation and experimental results demonstrate the validity of the stability analysis framework.

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“…3 shows the teleoperation system with the PC. Please see [7], [20], [21]- [24] for more detail about time-domain passivity control approach.…”

Section: B Two-port Networkmentioning

confidence: 99%

“…Recently, Hannaford and Ryu [7] have proposed a new energy based method for stable haptic interaction, and have extended this idea to a teleoperation 2-port network [21]. This method has been tested with two-DOF master/slave teleoperation system, and stable operation has been achieved with hard wall contact and hard surface following.…”

Section: Introductionmentioning

confidence: 99%

“…During unconstrained motion and contacting with soft and deformable environments, the two-port time domain passivity approach [21] was excessively dissipating energy even though it was stable without any energy dissipation. The main reason of this conservatism is on the fact that the time domain passivity controller does not include the external energy dissipation elements at the slave manipulator.…”

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confidence: 99%

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Stable and high performance teleoperation with time domain passivity control: reference energy following scheme

Ryu

Kim²

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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Abstract-Recently proposed stable teleoperation control scheme, based on time domain passivity, is modified to remove several conservatisms. During unconstrained motion and contacting with soft and deformable environments, the two-port time domain passivity approach [21] was excessively dissipating energy even though it was stable without any energy dissipation. The main reason of this conservatism is on the fact that the time domain passivity controller does not include the external energy dissipation elements at the slave manipulator. The measured interaction force between slave and environment allow the time domain passivity observer to include the amount of energy dissipation of the slave manipulator to the monitored energy. With the modified passivity observer, reference energy following idea [24] is applied to satisfy the passivity condition. The feasibility of the developed methods is proved with experiments. Improved performance is obtained in unconstrained motion and contacting with a soft environment. I. INTRODUCTIONThe goal of teleoperation system control is to achieve transparency while maintaining stability (i.e., such that the system does not exhibit vibration or divergent behavior) under any operating conditions and for any environments. In designing the bilateral controller, a classic engineering trade-off between transparency and stability has been an important issue, since transparency must often be reduced in order to guarantee stable operation in the wide range of environment impedances (for example, in terms of stiffness of "free space" and "hard contact"). This has necessitated investigating into methods to increase transparency without introducing instability. Several previous studies have sought out theoretical design methods for control parameters based on linear circuit theory However, the teleoperation systems of our interest are nonlinear and the dynamic properties of a human operator are always involved. These factors make it difficult to analyze teleoperation systems in terms of known parameters and linear control theory. To cope with the non-linearity and uncertain parameters of the teleoperation system, several researchers

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Stable Teleoperation With Time-Domain Passivity Control

Cited by 335 publications

References 23 publications

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom

Stable and high performance teleoperation with time domain passivity control: reference energy following scheme

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