Passivity-Based adaptive bilateral teleoperation control for uncertain manipulators without jerk measurements

In this work, we consider the bilateral teleoperation problem of cooperative robotic systems in a Single-Master Multi-Slave (SM/MS) configuration, which is able to perform load transportation tasks in the presence of parametric uncertainty in the robot kinematic and dynamic models. The teleoperation architecture is based on the two-layer approach placed in a hierarchical structure, whose top and bottom layers are responsible for ensuring the transparency and stability properties respectively. The load transportation problem is tackled by using the formation control approach wherein the desired translational velocity and interaction force are provided to the master robot by the user, while the object is manipulated with a bounded constant force by the slave robots. Firstly, we develop an adaptive kinematic-based control scheme based on a composite adaptation law to solve the cooperative control problem for robots with uncertain kinematics. Secondly, the dynamic adaptive control for cooperative robots is implemented by means of a cascade control strategy, which does not require the measurement of the time derivative of force (which requires jerk measurements). The combination of the Lyapunov stability theory and the passivity formalism are used to establish the stability and convergence property of the closed-loop control system. Simulations and experimental results illustrate the performance and feasibility of the proposed control scheme.No presente trabalho, considera-se o problema de teleoperação bilateral de um sistema robótico cooperativo do tipo single-master e multiple-slaves (SM/MS) capaz de realizar tarefas de transporte de carga na presença de incertezas paramétricas no modelo cinemático e dinâmico dos robôs. A arquitetura de teleoperação está baseada na abordagem de duas camadas em estrutura hierárquica, onde as camadas superior e inferior são responsáveis por assegurar as propriedades de transparência e estabilidade respectivamente. O problema de transporte de carga é formulado usando a abordagem de controle de formação onde a velocidade de translação desejada e a força de interação são fornecidas ao robô mestre pelo operador, enquanto o objeto é manipulado pelos robôs escravos com uma força constante limitada. Primeiramente, desenvolve-se um esquema de controle adaptativo cinemático baseado em uma lei de adaptação composta para solucionar o problema de controle cooperativo de robôs com cinemática incerta. Em seguida, o controle adaptativo dinâmico de robôs cooperativos é implementado por meio de uma estratégia de controle em cascata, que não requer a medição da derivada da força (o qual requer a derivada da aceleração ou jerk). A teoria de estabilidade de Lyapunov e o formalismo de passividade são usados para estabelecer as propriedades de estabilidade e a convergência do sistema de controle em malha-fechada. Resultados de simulações numéricas ilustram o desempenho e viabilidade da estratégia de controle proposta

NASA SBIR abstracts of 1990 phase 1 projects

The research objectives of the 280 projects placed under contract in the National Aeronautics and Space Administration (NASA) 1990 Small Business Innovation Research (SBIR) Phase 1 program are described. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses in response to NASA's 1990 SBIR Phase 1 Program Solicitation. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 280, in order of its appearance in the body of the report. The document also includes Appendixes to provide additional information about the SBIR program and permit cross-reference in the 1990 Phase 1 projects by company name, location by state, principal investigator, NASA field center responsible for management of each project, and NASA contract number

Telerobotic Sensor-based Tool Control Derived From Behavior-based Robotics Concepts

@font-face { font-family: TimesNewRoman ; }p.MsoNormal, li.MsoNormal, div.MsoNormal { margin: 0in 0in 0.0001pt; font-size: 12pt; font-family: Times New Roman ; }div.Section1 { page: Section1; } Teleoperated task execution for hazardous environments is slow and requires highly skilled operators. Attempts to implement telerobotic assists to improve efficiency have been demonstrated in constrained laboratory environments but are not being used in the field because they are not appropriate for use on actual remote systems operating in complex unstructured environments using typical operators. This work describes a methodology for combining select concepts from behavior-based systems with telerobotic tool control in a way that is compatible with existing manipulator architectures used by remote systems typical to operations in hazardous environment. The purpose of the approach is to minimize the task instance modeling in favor of a priori task type models while using sensor information to register the task type model to the task instance. The concept was demonstrated for two tools useful to decontamination & dismantlement type operations—a reciprocating saw and a powered socket tool. The experimental results demonstrated that the approach works to facilitate traded control telerobotic tooling execution by enabling difficult tasks and by limiting tool damage. The role of the tools and tasks as drivers to the telerobotic implementation was better understood in the need for thorough task decomposition and the discovery and examination of the tool process signature. The contributions of this work include: (1) the exploration and evaluation of select features of behavior-based robotics to create a new methodology for integrating telerobotic tool control with positional teleoperation in the execution of complex tool-centric remote tasks, (2) the simplification of task decomposition and the implementation of sensor-based tool control in such a way that eliminates the need for the creation of a task instance model for telerobotic task execution, and (3) the discovery, demonstrated use, and documentation of characteristic tool process signatures that have general value in the investigation of other tool control, tool maintenance, and tool development strategies above and beyond the benefit sustained for the methodology described in this work

Output Feedback Bilateral Teleoperation with Force Estimation in the Presence of Time Delays

This thesis presents a novel bilateral teleoperation algorithm for n degree of freedom nonlinear manipulators connected through time delays. Teleoperation has many practical uses, as there are many benefits that come from being able to operate machines from a distance. For instance, the ability to send a remote controlled robotic vehicle into a hazardous environment can be a great asset in many industrial applications. As well, the field of remote medicine can benefit from these technologies. A highly skilled surgeon could perform surgery on a patient who is located in another city, or even country. Earth to space operations and deep sea exploration are other areas where teleoperation is quite useful. Central to the approach presented in this work is the use of second order sliding mode unknown input observers for estimating the external forces acting on the manipulators. The use of these observers removes the need for both velocity and force sensors, leading to a lower cost hardware setup that provides all of the advantages of a position-force teleoperation algorithm. Stability results for this new algorithm are presented for several cases. Stability of each of the master and slave sides of the teleoperation system is demonstrated, showing that the master and slave are both stabilized by their respective controllers when the unknown input observers are used for state and force estimation. Additionally, closed loop stability results for the teleoperation system connected to a variety of slave side environments are presented. Delay-independent stability results for a linear spring-damper environment as well as a general finite-gain stable nonlinear environment are given. Delay-dependent stability results for the case where the slave environment is a liner spring-damper and the delays are commensurate are also presented. As well, stability results for the closed loop under the assumption that the human operator is modeled as a finite-gain stable nonlinear environment are given. Following the theoretical presentation, numerical simulations illustrating the algorithm are presented, and experimental results verifying the practical application of the approach are given

Technology for the Future: In-Space Technology Experiments Program, part 2

The purpose of the Office of Aeronautics and Space Technology (OAST) In-Space Technology Experiments Program In-STEP 1988 Workshop was to identify and prioritize technologies that are critical for future national space programs and require validation in the space environment, and review current NASA (In-Reach) and industry/ university (Out-Reach) experiments. A prioritized list of the critical technology needs was developed for the following eight disciplines: structures; environmental effects; power systems and thermal management; fluid management and propulsion systems; automation and robotics; sensors and information systems; in-space systems; and humans in space. This is part two of two parts and contains the critical technology presentations for the eight theme elements and a summary listing of critical space technology needs for each theme

Proceedings of the NASA Conference on Space Telerobotics, volume 4

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotic technology to the space systems planned for the 1990's and beyond. Volume 4 contains papers related to the following subject areas: manipulator control; telemanipulation; flight experiments (systems and simulators); sensor-based planning; robot kinematics, dynamics, and control; robot task planning and assembly; and research activities at the NASA Langley Research Center

Advancing automation and robotics technology for the Space Station and for the US economy, volume 2

In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Technical Report, Volume 2, provides background information on automation and robotics technologies and their potential and documents: the relevant aspects of Space Station design; representative examples of automation and robotics; applications; the state of the technology and advances needed; and considerations for technology transfer to U.S. industry and for space commercialization

A forecast of space technology, 1980 - 2000

The future of space technology in the United States during the period 1980-2000 was presented, in relation to its overall role within the space program. Conclusions were drawn and certain critical areas were identified. Three different methods to support this work were discussed: (1) by industry, largely without NASA or other government support, (2) partially by industry, but requiring a fraction of NASA or similar government support, (3) currently unique to space requirements and therefore relying almost totally on NASA support. The proposed work was divided into the following areas: (1) management of information (acquisition, transfer, processing, storing) (2) management of energy (earth-to-orbit operations, space power and propulsion), (3) management of matter (animate, inanimate, transfer, storage), (4) basic scientific resources for technological advancement (cryogenics, superconductivity, microstructures, coherent radiation and integrated optics technology)

NASA SBIR abstracts of 1992, phase 1 projects

The objectives of 346 projects placed under contract by the Small Business Innovation Research (SBIR) program of the National Aeronautics and Space Administration (NASA) are described. These projects were selected competitively from among proposals submitted to NASA in response to the 1992 SBIR Program Solicitation. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 346, in order of its appearance in the body of the report. Appendixes to provide additional information about the SBIR program and permit cross-reference of the 1992 Phase 1 projects by company name, location by state, principal investigator, NASA Field Center responsible for management of each project, and NASA contract number are included