1,224 research outputs found
Delay compensation for nonlinear teleoperators using predictor observers
This paper presents a delay compensation technique for nonlinear teleoperators by developing a predictor type sliding mode observer (SMO) that estimates future states of the slave operator. Predicted states are then used in control formulation. In the proposed scheme, disturbance observers (DOB) are also
utilized to linearize nonlinear dynamics of the master and slave operators. It is shown that utilization of disturbance observers and predictor observer allow simple PD controllers to be used to provide stable position tracking for bilateral teleoperation. Proposed approach is verified with simulations where it is compared with two state-of-the-art methods. Successful experimental results with a bilateral teleoperation system consisting of a pair of pantograph robots also validates the proposed method
Planning and Real Time Control of a Minimally Invasive Robotic Surgery System
This paper introduces the planning and control software of a teleoperating robotic system for minimally invasive surgery. It addresses the problem of how to organize a complex system with 41 degrees of freedom including robot setup planning, force feedback control and nullspace handling with three robotic arms. The planning software is separated into sequentially executed planning and registration procedures. An optimal setup is first planned in virtual reality and then adapted to variations in the operating room. The real time control system is composed of hierarchical layers. The design is flexible and expandable without losing performance. Structure, functionality and implementation of planning and control are described. The robotic system provides the surgeon with an intuitive hand-eye-coordination and force feedback in teleoperation for both hands
Central controller for hybrid control over network
In this paper, a central controller for position/force
hybrid control over network is proposed. In the proposed method,
the central controller receives position and force information
from each plant. Then, the central controller generates acceleration
references for each plant by using a hybrid controller and a
dead time compensator. As an application, bilateral control with
communication delay is implemented. And some simulations and
experiments verify the validity of the proposed method
Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification
In this paper, we present experimental studies on a cooperative control
system for human-robotic networks with inter-robot communication delays. We
first design a cooperative controller to be implemented on each robot so that
their motion are synchronized to a reference motion desired by a human
operator, and then point out that each robot motion ensures passivity.
Inter-robot communication channels are then designed via so-called scattering
transformation which is a technique to passify the delayed channel. The
resulting robotic network is then connected with human operator based on
passivity theory. In order to demonstrate the present control architecture, we
build an experimental testbed consisting of multiple robots and a tablet. In
particular, we analyze the effects of the communication delays on the human
operator's behavior
Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace
Human-in-the-loop manipulation is useful in when autonomous grasping is not
able to deal sufficiently well with corner cases or cannot operate fast enough.
Using the teleoperator's hand as an input device can provide an intuitive
control method but requires mapping between pose spaces which may not be
similar. We propose a low-dimensional and continuous teleoperation subspace
which can be used as an intermediary for mapping between different hand pose
spaces. We present an algorithm to project between pose space and teleoperation
subspace. We use a non-anthropomorphic robot to experimentally prove that it is
possible for teleoperation subspaces to effectively and intuitively enable
teleoperation. In experiments, novice users completed pick and place tasks
significantly faster using teleoperation subspace mapping than they did using
state of the art teleoperation methods.Comment: ICRA 2018, 7 pages, 7 figures, 2 table
Interest of the dual hybrid control scheme for teleoperation with time delays
A new scheme of teleoperation called "dual hybrid control" is described. It is shown that telepresence is increased compared to traditional force feedback schemes. It is particulary well suited for time delay teleoperation
Man-machine interface issues in space telerobotics: A JPL research and development program
Technology issues related to the use of robots as man-extension or telerobot systems in space are discussed and exemplified. General considerations are presentd on control and information problems in space teleoperation and on the characteristics of Earth orbital teleoperation. The JPL R and D work in the area of man-machine interface devices and techniques for sensing and computer-based control is briefly summarized. The thrust of this R and D effort is to render space teleoperation efficient and safe through the use of devices and techniques which will permit integrated and task-level (intelligent) two-way control communication between human operator and telerobot machine in Earth orbit. Specific control and information display devices and techniques are discussed and exemplified with development results obtained at JPL in recent years
Compensation of position errors in passivity based teleoperation over packet switched communication networks
Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance controller for compensating the steady state position error arising in free motion because of packets loss
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