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Research Papers

Task-Space Framework for Bilateral Teleoperation With Time Delays

[+] Author and Article Information
Hanlei Wang

Science and Technology on Space Intelligent Control Laboratory,  Beijing Institute of Control Engineering, Beijing 100190, Chinawanghanlei01@yahoo.com.cn

Yongchun Xie

Science and Technology on Space Intelligent Control Laboratory,  Beijing Institute of Control Engineering, Beijing 100190, Chinaxieyongchun@vip.sina.com

J. Dyn. Sys., Meas., Control 134(5), 051010 (Jul 27, 2012) (10 pages) doi:10.1115/1.4006215 History: Received February 19, 2011; Revised January 18, 2012; Published July 26, 2012; Online July 27, 2012

This paper investigates the task-space control framework for bilateral teleoperation with communication time delays. Teleoperation in task space R3  × SO(3) presents some distinctive features different from its joint-space counterpart, i.e., SO(3) is nonconvex and bears quite different structure from Euclidean space Rn . Through analyzing the energy flows at the two ports of the teleoperator, we rigorously define the task-space interaction passivity of the teleoperator. Based on this passivity framework, we propose delay-robust control schemes to achieve master–slave position/orientation synchronization. Singularity-free task-space interaction passivity of the closed-loop teleoperator is ensured by the proposed task-space control framework. Using Lyapunov–Krasovskii stability tool and Schwarz inequality, we analyze the performance of the proposed teleoperation control scheme. We also discuss the problems incurred by time-varying delays and the corresponding solutions. Simulation study on a master–slave teleoperator composed of two kinematically dissimilar six-degree of freedom (DOF) manipulators is performed to illustrate the performance of the proposed control approach.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 1

The two-port structure of the teleoperator system

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Figure 2

The six-DOF master and slave manipulator models

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Figure 3

The wall (a rigid plane) that is interacted with by the slave

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Figure 4

Master and slave end-effector positions

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Figure 5

Master and slave end-effector orientations described by Euler parameters

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Figure 6

Master and slave end-effector paths

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Figure 7

The human operator’s force and the contact force

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Figure 8

The human operator’s torque and the contact torque

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Figure 9

Master and slave end-effector positions (time-varying delay case, Tr max  = 2.0)

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Figure 10

The forward and backward time delays

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