0
research-article

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 St., P.O. Box: 11155-9567, Tehran, Iran
mojtaba_sharifi@mech.sharif.edu

Hassan Salarieh

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

Behzadipour Saeed

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

Mahdi Tavakoli

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

1Corresponding author.

ASME doi:10.1115/1.4037125 History: Received January 29, 2017; Revised June 15, 2017

Abstract

A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-DOF 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. 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 proposed impedance-based control strategy is evaluated experimentally by employing a nonlinear multi-DOF teleoperated trilateral haptic system with and without communication delays.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

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