TRANSPARENT BILATERAL MASTER–SLAVE CONTROL BASED ON VIRTUAL SURFACES: STABILITY ANALYSIS AND EXPERIMENTAL RESULTS

Alejandro Rodriguez-Angeles, Marco A. Arteaga-Pérez, Rogelio de J. Portillo-Vélez, e e and Carlos A. Cruz-Villar

References

  1. [1] B. Hannaford, A design framework for teleoperators withkinesthetic feedback, IEEE Transactions on Robotics andAutomation, 5(4), 1989, 426–434.
  2. [2] Y. Yokokohji and T. Yoshikawa, Bilateral control of master–slave manipulators for ideal kinesthetic coupling: formula-tion and experiments, IEEE Transactions on Robotics andAutomation, 10(5), 1994, 605–620.
  3. [3] M.J. Beelen, G.J.-L. Naus, M.J.-G. van de Molengraft, andM. Steinbuch, Force feedback control design for nonideal tele-operators, Control Engieering Practice, 21(12), 2013, 1694–1705.
  4. [4] S. Ueki, Y. Nishimoto, M. Abe, H. Kawasaki, S. Ito, Y. Ishigure,J. Mizumoto, and T. Ojika, Development of virtual realityexercise of hand motion assist robot for rehabilitation therapyby patient self-motion control, Engineering in Medicine andBiology Society, 2008. EMBS 2008. 30th Annual Int. Conf. ofthe IEEE, Vancouver, Canada, October 2008, 4282–4285.
  5. [5] C. Passenberg, A. Peer, and M. Buss, A survey of environment-,operator-, and task-adapted controllers for teleoperation sys-tems, Mechatronics, 20, 2010, 787–801.
  6. [6] P. Hokayem and M. Spong, Bilateral teleoperation: an historicalsurvey, Automatica, 42(12), 2006, 2035–2057.
  7. [7] P. Mitra and G. Niemeyer, Model–mediated telemanipulation,International Journal of Robotics Research, 27, 2008, 253–262.
  8. [8] C. Tzafestas, S. Velanas, and G. Fakiridis, Adaptive impedancecontrol in haptic teleoperation to improve transparency undertime-delay, IEEE Int. Conf. on Robotics and Automation,Pasadena CA, May 2008, 212–219.
  9. [9] C.C. Cheah, S.P. Hou, Y. Zhao, and J.-J. E. Slotine, Adaptivevision and force tracking control for robots with constraint un-certainty, IEEE/ASME Transactions on Mechatronics, 15(3),2010, 389–398.
  10. [10] Z. Li, X. Cao, Y. Tang, R. Li, and W. Ye, Bilateral teleop-eration of holonomic constrained robotic systems with time-varying delays, IEEE Transactions on Instrumentation andMeasurement, 62(4), 2013, 752–765.
  11. [11] N.T. Thanh, X. Jiang, S. Abiko, T. Tsujita, and A. Konno,Collaborative haptic interaction in virtual environment ofmulti-operator multi-robot teleoperation systems, SICE An-nual Conf., Akita, Japan, August 2012, 1585–1590.
  12. [12] N. Jarrass´e, J. Paik, V. Pasqui, and G. More, How can humanmotion prediction increase transparency? IEEE Int. Conf. onRobotics and Automation, Pasadena CA, May 2005, 2134–2139.
  13. [13] K. Houston, A. Sieber, C. Eder, O. Vittorio, A. Menciassi,and P. Dario, A teleoperation system with novel haptic devicefor micro-manipulation, International Journal of Robotics andAutomation, 26(3), 2011, 247–254.
  14. [14] D. Erickson, M. Weber, and I. Sharf, Contact stiffness anddamping estimation for robotic systems, International Journalof Robotics Research, 22 (1), 2003, 41–57.
  15. [15] C. Weber, V. Nitsch, U. Unterhinninghofen, B. F¨arber, andM. Buss, Position and force augmentation in a telepresencesystem and their effects on perceived realism, Third JointEurohaptics Conference and Symposium on Haptic Interfacesfor Virtual Environment and Teleoperator Systems, Salt LakeCity, UT, March 2009, 226–231.
  16. [16] H.-J. Liu and K.-Y. Young, Applying wave-variable-based slid-ing mode impedance control for robot teleoperation, Inter-national Journal of Robotics and Automation, 26(3), 2011,296–304.
  17. [17] A. Achhammer, C. Weber, A. Peer, and M. Buss, Improvementof model-mediated teleoperation using a new hybrid environ-ment estimation technique, IEEE Int. Conf. on Robotics andAutomation, AK, May 2010, 5358–5363.
  18. [18] C. Garcia, M. Artigas, R. Aracil, and R. Saltaren, Optimalanalysis of a teleoperated system with an adaptative controller,International Journal of Robotics and Automation, 26(4), 2011,389–400.
  19. [19] S. Arimoto, Joint-space orthogonalization and passivity forphysical interpretations of dextrous robot motions under geo-metric constraints, International Journal of Robust and Non-linear Control, 5(4), 1995, 259–284.
  20. [20] Y.-H. Liu, S. Arimoto, V. Parra-Vega, and K. Kitagaki,Decentralized adaptive control of multiple manipulators incooperations, International Journal of Control, 67(5), 1997,649–673.
  21. [21] A. Kheddar, C. Tzafestas, and P. Coiffet, The hidden robotconcept-high level abstraction teleoperation, IEEE–RSJ Int.Conf. on Intelligent and Robotic Systems, Grenoble, France,September 1997, 1818–1825.
  22. [22] K. Hashtrudi-Zaad and S.E. Salcudean, Analysis of con-trol architectures for teleoperation systems with impedance/admittance master and slave manipulators, International Jour-nal of Robotics Research, 20(6), 2001, 419–445.
  23. [23] C. Kim, J.H. Chung, and D. Hong, Coordination control ofan active pneumatic deburring tool, Robotics and ComputerIntegrated Manufacturing, 24(3), 2008, 462–471.
  24. [24] W. Zhu, B. Mei, G. Yan, and Y. Ke, Measurement error analysisand accuracy enhancement of 2D vision system for roboticdrilling, Robotics and Computer Integrated Manufacturing,30(2), 2014, 160–171.
  25. [25] D. Botturi, M. Vicentini, M. Righele, and C. Secchi, Perception-centric force scaling in bilateral teleoperation, Mechatronics,20(7), 2010, 802–811.
  26. [26] C.L. Clover, A control-system architecture for robots usedto simulate dynamic force and moment interaction betweenhumans and virtual objects, IEEE Transactions on Systems,Man and Cybernetics, 29(4), 1999, 481–493.
  27. [27] W. Zhu, C. Hua, and X. Guan, Coordination control for bilat-eral teleoperation with kinematics and dynamics uncertainties,Robotics and Computer Integrated Manufacturing, 30(2), 2014,180–188.
  28. [28] J.C. Mart´ınez–Rosas, M.A. Arteaga, and A.M. Castillo–S´anchez, Decentralized control of cooperative robots withoutvelocity–force measurements, Automatica, 42, 2006, 329–336.
  29. [29] E. Bayo and A. Avello, Singularity-free augmented lagrangianalgorithms for constrained multibody dynamics, NonlinearDynamics, 5, 1994, 209–231.
  30. [30] H.K. Khalil, Nonlinear systems, 3rd ed. (Upper Saddle River,NJ: Prentice–Hall, 2002).138

Important Links:

Go Back