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Research Papers

Position-Error Based Schemes for Bilateral Teleoperation With Time Delay: Theory and Experiments

[+] Author and Article Information
Ilia G. Polushin1

Department of Electrical and Computer Engineering, University of Western Ontario, London, ON N6A 5B9, Canadaipolushin@eng.uwo.ca

Peter X. Liu

Department of Systems and Computer Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON K1S 5B6, Canadaxpliu@sce.carleton.ca

Chung-Horng Lung

Department of Systems and Computer Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON K1S 5B6, Canadachung-horng.lung@sce.carleton.ca

Gia Dien On

Department of Systems and Computer Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON K1S 5B6, Canadagdong@connect.carleton.ca

1

Corresponding author.

J. Dyn. Sys., Meas., Control 132(3), 031008 (Apr 27, 2010) (11 pages) doi:10.1115/1.4001215 History: Received June 08, 2006; Revised December 09, 2009; Published April 27, 2010; Online April 27, 2010

The problem of stable bilateral teleoperation with position-error based force feedback in the presence of time-varying possibly unbounded communication delay is addressed. Two stabilization schemes are proposed that guarantee “independent of delay” stability of the teleoperator system. In particular, one of the schemes theoretically allows to achieve an arbitrary high force-reflection gain, which leads to better transparency without sacrificing the stability of the overall system. The stability analysis is based on the input-to-output stable small gain theorem for systems of functional-differential equations. Experimental results are presented, which demonstrate stable behavior of the telerobotic system with time-varying communication delay during contact with a rigid obstacle.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 5

Experimental results for Kf=800, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=1 s, σ=0.1 s, and the x-positions of the master and slave versus time

Grahic Jump Location
Figure 6

Experimental results for Kf=800, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=1 s, σ=0.1 s, and the slave’s contact torques (joint space) versus time

Grahic Jump Location
Figure 7

Experimental results for Kf=800, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=2 s, σ=0.2 s, and the x-positions of the master and slave versus time

Grahic Jump Location
Figure 8

Experimental results for Kf=800, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=2 s, σ=0.2 s, and the slave’s contact torques (joint space) versus time

Grahic Jump Location
Figure 9

Experimental results for Kf=1500, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=0.1 s, σ=0.01 s, and the x-positions of the master and slave versus time

Grahic Jump Location
Figure 10

Experimental results for Kf=1500, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=0.1 s, σ=0.01 s, and the slave’s contact torques (joint space) versus time

Grahic Jump Location
Figure 11

Experimental results for Kf=1500, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=0.5 s, σ=0.05 s, and the x-positions of the master and slave versus time

Grahic Jump Location
Figure 12

Experimental results for Kf=1500, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=0.5 s, σ=0.05 s, and the slave’s contact torques (joint space) versus time

Grahic Jump Location
Figure 13

Experimental results for Kf=1500, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=1 s, σ=0.1 s and the x-positions of the master and slave versus time

Grahic Jump Location
Figure 14

Experimental results for Kf=1500, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=1 s, σ=0.1 s, and the slave’s contact torques (joint space) versus time

Grahic Jump Location
Figure 1

Example of the communication delay function τ∼N(Tav,σ2), Tav=0.1 s, and σ=0.01 s

Grahic Jump Location
Figure 2

Example of the communication delay function τ∼N(Tav,σ2), Tav=2 s, and σ=0.2 s

Grahic Jump Location
Figure 3

Experimental results for Kf=800, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=0.1 s, σ=0.01 s, and the x-positions of the master and slave versus time

Grahic Jump Location
Figure 4

Experimental results for Kf=800, τf(⋅)=τb(⋅)∼N(Tav,σ2), Tav=0.1 s, σ=0.01 s, and the slave’s contact torques (joint space) versus time

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