Improved bilateral teleoperation with proactive haptic sensing and transmission
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Date
2018
Journal Title
Journal ISSN
Volume Title
Publisher
Sage Publications Ltd
Access Rights
info:eu-repo/semantics/closedAccess
Abstract
This article presents a novel master-slave control configuration that is experimentally demonstrated to improve teleoperation performance under random network delay. This is achieved via the design of a proactive haptic sensing system based on a laser range sensor on the slave side, which in turn allows for the proactive transmission of force control from the master to the slave, thus compensating for Internet-based network delays. The proposed configuration introduces three main contributions to the literature of bilateral control systems: (1) fully decoupled position and force control systems, which allow for the controller gains of each loop to be tuned independently, eliminating the trade-off common to most previous literature; (2) a novel approach that exploits the slow variation nature of the environment parameters, resulting in a lower bandwidth requirement in comparison to previous force control methods; (3) capability to measure the slave environment location and the prediction of the contact force as a result, which provides the human operator with the capability to generate the reaction force proactively on the master side. The conducted experiments demonstrated a significantly improved performance in terms of synchronized forces and positions despite the random network delay between the master and slave systems.
Description
Keywords
Bilateral Control, Teleoperation, Communication Delay, Disturbance Observer, Smith Predictor, Model Tracking Control, Time-Delay, Communication, Network, System, Design
Journal or Series
Proceedings of The Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering
WoS Q Value
Q4
Scopus Q Value
Q2
Volume
232
Issue
1
