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.

Copyright © 2012 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 1

The two-port structure of the teleoperator system

Grahic Jump Location
Figure 2

The six-DOF master and slave manipulator models

Grahic Jump Location
Figure 3

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

Grahic Jump Location
Figure 4

Master and slave end-effector positions

Grahic Jump Location
Figure 5

Master and slave end-effector orientations described by Euler parameters

Grahic Jump Location
Figure 6

Master and slave end-effector paths

Grahic Jump Location
Figure 7

The human operator’s force and the contact force

Grahic Jump Location
Figure 8

The human operator’s torque and the contact torque

Grahic Jump Location
Figure 9

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

Grahic Jump Location
Figure 10

The forward and backward time delays



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In