685 research outputs found
Novel observers for compensation of communication delay in bilateral control systems
The problem of communication delay in bilateral or
teleoperation systems is even more emphasized with the use of the
internet for communication, which may give rise to loss of
transparency and even instability. To address the problem,
numerous methods have been proposed. This study is among the
few recent studies taking a disturbance observer approach to the
problem of time delay, and introduces a novel sliding-mode
observer to overcome specifically the effects of communication
delay in the feedback loop. The observer operates in combination
with a PD+ controller which controls the system dynamics, while
also compensating load torque uncertainties on the slave side. To
this aim, an EKF based load estimation algorithm is performed on
the slave side. The performance of this approach is tested with
computer simulations for the teleoperation of a 1-DOF robotic
arm. The simulations reveal an acceptable amount of accuracy
and transparency between the estimated slave and actual slave
position under both constant and random measurement delay and
variable and step-type load variations on the slave side,
motivating the use of the approach for internet-based bilateral
control systems
Function based control for bilateral systems in tele-micromanipulation
Design of a motion control system should take into
account (a) unconstrained motion performed without interaction
with environment or any other system, and (b) constrained
motion with system in contact with environment or other systems.
Control in both cases can be formulated in terms of maintaining
desired system configuration what makes essentially the same
structure for common tasks: trajectory tracking, interaction force
control, compliance control etc. The same design approach can be
used to formulate control in bilateral systems aimed to maintain
desired functional relations between human and environment
through master and slave motion systems. Implementation of
the methodology is currently being pursued with a custom built
Tele-micromanipulation setup and preliminary results concerning
force/position tracking and transparency between master and
slave are clearly demonstrated
Scaled bilateral teleoperation using discrete-time sliding mode controller
In this paper, the design of a discrete-time slidingmode
controller based on Lyapunov theory is presented along
with a robust disturbance observer and is applied to a piezostage
for high-precision motion. A linear model of a piezostage was
used with nominal parameters to compensate the disturbance
acting on the system in order to achieve nanometer accuracy. The
effectiveness of the controller and disturbance observer is validated
in terms of closed-loop position performance for nanometer
references. The control structure has been applied to a scaled
bilateral structure for the custom-built telemicromanipulation
setup. A piezoresistive atomic force microscope cantilever with a
built-in Wheatstone bridge is utilized to achieve the nanonewtonlevel
interaction forces between the piezoresistive probe tip and
the environment. Experimental results are provided for the
nanonewton-range force sensing, and good agreement between
the experimental data and the theoretical estimates has been
demonstrated. Force/position tracking and transparency between
the master and the slave has been clearly demonstrated after
necessary scalin
Transparency in Port-Hamiltonian-Based Telemanipulation
After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels
Predictive input delay compensation for motion control systems
This paper presents an analytical approach for the prediction of future motion to be used in input delay compensation of time-delayed motion control systems. The method makes use of the current and previous input values given to a nominally behaving system in order to realize the prediction of the future motion of that system. The generation of the future input is made through an integration which is realized in discrete time setting. Once the future input signal is created, it is used as the reference input of the remote system to enforce an input time delayed system, conduct a delay-free motion. Following the theoretical formulation, the proposed method is tested in experiments and the validity of the approach is verified
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