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Research Papers

Stable Nonlinear Trilateral Impedance Control for Dual-User Haptic Teleoperation Systems With Communication Delays

[+] Author and Article Information
Mojtaba Sharifi

Department of Mechanical Engineering,
Sharif University of Technology,
Azadi Street,
P.O. Box 11155-9567,
Tehran 1458889694, Iran
e-mail: mojtaba_sharifi@mech.sharif.edu

Hassan Salarieh

Department of Mechanical Engineering,
Sharif University of Technology,
Azadi Street,
P.O. Box 11155-9567,
Tehran 1458889694, Iran
e-mail: salarieh@sharif.edu

Saeed Behzadipour

Department of Mechanical Engineering,
Sharif University of Technology,
Azadi Street,
P.O. Box 11155-9567,
Tehran 1458889694, Iran
e-mail: behzadipour@sharif.edu

Mahdi Tavakoli

Department of Electrical
and Computer Engineering,
University of Alberta,
Edmonton, AB T6G 1H9, Canada
e-mail: mahdi.tavakoli@ualberta.ca

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 29, 2017; final manuscript received June 15, 2017; published online August 28, 2017. Assoc. Editor: Evangelos Papadopoulos.

J. Dyn. Sys., Meas., Control 139(12), 121012 (Aug 28, 2017) (13 pages) Paper No: DS-17-1056; doi: 10.1115/1.4037125 History: Received January 29, 2017; Revised June 15, 2017

A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-degrees-of-freedom (DOFs) dual-user haptic teleoperation systems subjected to communication delays. Using this strategy, reference impedance models are realized for the trilateral teleoperation system represented by a three-port network to facilitate cooperation of two human operators in order to perform a remote physical task. For this purpose, an impedance model defines the desired haptic interaction between the two human operators, while another impedance model specifies the desired behavior of the slave robot in terms of tracking the mater robots' trajectories during interaction with the remote environment. It is shown that different performance goals such as position synchronization and force reflection can be achieved via different adjustments to the impedance parameters. The sufficient conditions for the trilateral haptic system's absolute stability are investigated in terms of the impedance models' parameters. Accordingly, guidelines for modification of the impedance parameters are obtained to guarantee the absolute stability of the trilateral haptic system in the presence of communication time delays. A trilateral nonlinear version of the model reference adaptive impedance control (MRAIC) scheme is developed for implementing the proposed reference impedance models on the masters and the slave. The convergence of robots' trajectories to desired responses and the robustness against modeling uncertainties are ensured using the proposed controller as proven by the Lyapunov stability theorem. The proposed impedance-based control strategy is evaluated experimentally by employing a nonlinear multi-DOFs teleoperated trilateral haptic system with and without communication delays.

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References

Figures

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Fig. 1

The schematic diagram of the proposed trilateral teleoperated haptic system with communication delays

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Fig. 2

The block diagram of the proposed nonlinear trilateral model reference adaptive impedance controller

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Fig. 3

Experimental system: (a) two phantom premium robots as the masters and (b) one quanser robot as the slave

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Fig. 4

(a) The position trajectories of the masters (xm1, xm2) and slave (xs) with their desired reference impedance models' responses (ximpm, ximps) and (b) the position tracking errors for each robot (x̃m1, x̃m2, x̃s) and between the masters and slave (xs−ηx(αxxm1+(1−αx) xm2)), in the x direction

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Fig. 5

(a) The operators forces fhum1, fhum2, sum of their scaled forces αffhum1+(1−αf)fhum2, and the scaled environment force ηffenv and (b) the force reflection error (αffhum1+(1−αf)fhum2−ηffenv), in the x direction when αf=αx=0.5

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Fig. 6

(a) The masters and slave position trajectories (xm1, xm2, xs) with their desired reference impedance models' responses (ximpm, ximps) and (b) the operators forces fhum1, fhum2, sum of their scaled forces αffhum1+(1−αf)fhum2, and the scaled environment force ηffenv, when αf=αx=0.8 in the y direction

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Fig. 7

Positiveness of the absolute stability index β5 employing the modified impedance parameters for delayed teleoperation system

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Fig. 8

(a) The operators forces fhum1, fhum2, sum of their scaled forces αffhum1+(1−αf)fhum2, and the scaled environment force ηffenv and (b) the force reflection error (αffhum1+(1−αf)fhum2−ηffenv), in the x direction when αf=αx=0.5 and the upperbounds of communication delays are T1=70  ms and T2=70  ms

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Fig. 9

(a) The position trajectories of the masters (xm1, xm2) and slave (xs) with their desired reference impedance models' responses (ximpm, ximps) and (b) the position tracking errors for each robot (x̃m1, x̃m2, x̃s) and between the masters and slave (xs−ηx(αxxm1+(1−αx) xm2)), in the presence of time delays (T1=70  ms and T2=70  ms)

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Fig. 10

(a) The scaled operators αffhum1, (1−αf)fhum2 and environment ηffenv interaction forces and (b) the masters and slave position trajectories (xm1, xm2, xs) with their desired reference impedance models' responses (ximpm, ximps) in the y direction, when αf=αx=0.8 and the upper bounds of communication delays are T1=70  ms and T2=70  ms

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