Force and position coordination for delayed bilateral teleoperation of a manipulator robot
This paper focuses on the design and analysis of a P+d+f (Proportional, Derivative, and Force) variable control strategy aimed at delayed bilateral teleoperation of a manipulator robot, the ultimate goal of which is to obtain simultaneous coordination of force and position between the haptic device...
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| Published in | International journal of dynamics and control Vol. 12; no. 6; pp. 1679 - 1693 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Berlin/Heidelberg
Springer Berlin Heidelberg
01.06.2024
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2195-268X 2195-2698 |
| DOI | 10.1007/s40435-023-01298-z |
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| Abstract | This paper focuses on the design and analysis of a P+d+f (Proportional, Derivative, and Force) variable control strategy aimed at delayed bilateral teleoperation of a manipulator robot, the ultimate goal of which is to obtain simultaneous coordination of force and position between the haptic device and the robot. The proposed controller changes the damping based on both the time delay and feedback power signal measured online. Unlike other P+d+f strategies, this proposal avoids terms with discontinuities in the controller, cancellation of human and environment forces and also prevents the explicit use of environment parameters. The proposal uses variable damping dependent on a feedback power signal, which reduces kinetic energy to ensure bounded control errors. Simulations are performed to verify that dual coordination is achieved without using explicit nonlinear damping in the controller or needing the parametric knowledge of the environment model, which is useful to apply the controller to most commercial manipulator robots. |
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| AbstractList | This paper focuses on the design and analysis of a P+d+f (Proportional, Derivative, and Force) variable control strategy aimed at delayed bilateral teleoperation of a manipulator robot, the ultimate goal of which is to obtain simultaneous coordination of force and position between the haptic device and the robot. The proposed controller changes the damping based on both the time delay and feedback power signal measured online. Unlike other P+d+f strategies, this proposal avoids terms with discontinuities in the controller, cancellation of human and environment forces and also prevents the explicit use of environment parameters. The proposal uses variable damping dependent on a feedback power signal, which reduces kinetic energy to ensure bounded control errors. Simulations are performed to verify that dual coordination is achieved without using explicit nonlinear damping in the controller or needing the parametric knowledge of the environment model, which is useful to apply the controller to most commercial manipulator robots. |
| Author | Mut, Vicente A. Santiago, Diego D. Slawiñski, Emanuel Salinas, Lucio R. |
| Author_xml | – sequence: 1 givenname: Diego D. surname: Santiago fullname: Santiago, Diego D. organization: Instituto de Automática (INAUT), Universidad Nacional de San Juan (UNSJ) - CONICET – sequence: 2 givenname: Emanuel surname: Slawiñski fullname: Slawiñski, Emanuel organization: Instituto de Automática (INAUT), Universidad Nacional de San Juan (UNSJ) - CONICET – sequence: 3 givenname: Lucio R. orcidid: 0000-0002-7330-4131 surname: Salinas fullname: Salinas, Lucio R. email: lucio.salinas@bristol.ac.uk organization: Instituto de Automática (INAUT), Universidad Nacional de San Juan (UNSJ) - CONICET, Department of Engineering Mathematics, University of Bristol – sequence: 4 givenname: Vicente A. surname: Mut fullname: Mut, Vicente A. organization: Instituto de Automática (INAUT), Universidad Nacional de San Juan (UNSJ) - CONICET |
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| Cites_doi | 10.1016/j.compeleceng.2016.08.003 10.1080/00207179.2016.1144234 10.1109/9.24201 10.1016/j.automatica.2006.06.027 10.1109/TSMCA.2011.2159588 10.1109/LRA.2020.3013860 10.1109/TRO.2013.2279572 10.1017/S026357471400068X 10.1142/S0217984920502401 10.1109/ICCAS.2008.4694563 10.1109/TMECH.2018.2793877 10.1109/TMECH.2014.2317946 10.1016/S0005-1098(03)00167-5 10.2478/amcs-2019-0050 10.1109/TRO.2011.2142430 10.2514/1.35340 10.1109/ACCESS.2018.2789864 10.1016/j.automatica.2011.01.004 10.1109/48.64895 10.1109/MCS.2010.939135 10.1109/TIM.2013.2266039 10.1016/j.conengprac.2023.105622 10.1109/TRO.2008.921565 10.1016/j.mechatronics.2010.07.006 10.1109/WHC.2013.6548491 10.1109/70.258054 10.1016/j.isatra.2017.09.021 10.1017/S0263574719000249 10.1002/rcs.1881 10.1007/s11768-010-8178-z 10.1016/j.mechatronics.2004.05.006 10.1109/TRO.2010.2041877 10.1126/scirobotics.abl6307 10.1109/TRO.2010.2053736 10.1002/asjc.1461 10.1109/COMST.2018.2851452 |
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| Keywords | Transparency Time delay Bilateral teleoperation Force–position coordination Lyapunov–Krasovskii |
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| References | NunoESarrasIBasanezLConsensus in networks of nonidentical Euler–Lagrange systems using P+d controllersIEEE Trans Robot20132961503150810.1109/TRO.2013.2279572 ChoHCParkJHStable bilateral teleoperation under a time delay using a robust impedance controlMechatronics200515561162510.1016/j.mechatronics.2004.05.006 FrankenMStramigioliSMisraSSecchiCMacchelliABilateral telemanipulation with time delays: a two-layer approach combining passivity and transparencyIEEE Trans Robot201127474175610.1109/TRO.2011.2142430 Guajardo-BenavidesEJArteagaMAOn the finite time force estimation for bilateral teleoperation of robot manipulators with time varying delaysControl Eng Pract202313810.1016/j.conengprac.2023.105622 SinghHPanzirschMCoelhoAOttCProxy-based approach for position synchronization of delayed robot coupling without sacrificing performanceIEEE Robot Autom Lett2020546599660610.1109/LRA.2020.3013860 MohammadiKTalebiHAZareinejadMA novel position and force coordination approach in four channel nonlinear teleoperationComput Electr Eng20165668869910.1016/j.compeleceng.2016.08.003 SlawiñskiEMutVAFioriniPSalinasLRQuantitative absolute transparency for bilateral teleoperation of mobile robotsIEEE Trans Syst Man Cybern A201242243044210.1109/TSMCA.2011.2159588 NuñoEBasañezLOrtegaRPassivity-based control for bilateral teleoperation: a tutorialAutomatica2011473485495287830110.1016/j.automatica.2011.01.004 ZhaoX-WHanGLaiQYueDMulticonsensus of first-order multiagent systems with directed topologiesMod Phys Lett B202034232050240413922510.1142/S0217984920502401 ShahbaziMAtashzarSFTavakoliMPatelRVPosition-force domain passivity of the human arm in telerobotic systemsIEEE/ASME Trans Mechatron201823255256210.1109/TMECH.2018.2793877 Hua C, Liu PX (2009) Delay-dependent stability analysis of teleoperation systems with unsymmetric time-varying delays. In: Proceedings of IEEE international conference on robotics and automation, pp 1146–1151 XuG-HQiFLaiQIuHH-CFixed time synchronization control for bilateral teleoperation mobile manipulator with nonholonomic constraint and time delayIEEE Trans Circuits Syst II2020671234523456 RyuJ-HArtigasJPreuscheCA passive bilateral control scheme for a teleoperator with time-varying communication delayMechatronics201020781282310.1016/j.mechatronics.2010.07.006 IslamSLiuXPEl SaddikATeleoperation systems with symmetric and unsymmetric time varying communication delayIEEE Trans Instrum Meas201362112943295310.1109/TIM.2013.2266039 LiHZhangLKawashimaKOperator dynamics for stability condition in haptic and teleoperation system: a surveyInt J Med Robot Comput Assist Surg2018142188110.1002/rcs.1881 EstradaEYuWLiXStability and transparency of delayed bilateral teleoperation with haptic feedbackInt J Appl Math Comput Sci2019294681692428571110.2478/amcs-2019-0050 AntonakoglouKXuXSteinbachEMahmoodiTDohlerMToward haptic communications over the 5G tactile internetIEEE Commun Surv Tuts20182043034305910.1109/COMST.2018.2851452 PanzirschMPereiraASinghHWeberBFerreiraEGherghescuAHannLExterEHulstFGerdesLExploring planet geology through force-feedback telemanipulation from orbitSci Robot2022765630710.1126/scirobotics.abl6307 Farkhatdinov I, Ryu J-H, Poduraev J ( 2008) A feasibility study of time-domain passivity approach for bilateral teleoperation of mobile manipulator. In: Proceedings of the IEEE international conference on control, automation and systems, pp 272– 277 SlawiñskiESantiagoDMutVControl for delayed bilateral teleoperation of a quadrotorISA Trans20177141542510.1016/j.isatra.2017.09.021 HuaC-CLiuXPDelay-dependent stability criteria of teleoperation systems with asymmetric time-varying delaysIEEE Trans Robot201026592593210.1109/TRO.2010.2053736 KellyRDavilaVSPerezJALControl of robot manipulators in joint space2006LondonSpringer LawrenceDAStability and transparency in bilateral teleoperationIEEE Trans Robot Autom19939562463710.1109/70.258054 HashemzadehFTavakoliMPosition and force tracking in nonlinear teleoperation systems under varying delaysRobotica20153341003101610.1017/S026357471400068X LiYYinYZhangDAdaptive task-space synchronization control of bilateral teleoperation systems with uncertain parameters and communication delaysIEEE Access201865740574810.1109/ACCESS.2018.2789864 HouMDuanGGuoMNew versions of Barbalat’s lemma with applicationsJ Control Theory Appl201084545547279073910.1007/s11768-010-8178-z LeeDHuangKPassive-set-position-modulation framework for interactive robotic systemsIEEE Trans Robot201026235436910.1109/TRO.2010.2041877 SipahiRNiculescuS-IAbdallahCTMichielsWGuKStability and stabilization of systems with time delayIEEE Control Syst Mag20113113865278981110.1109/MCS.2010.939135 AndersonRJSpongMWBilateral control of teleoperators with time delayIEEE Trans Autom Control198934549450199189210.1109/9.24201 Dyck M, Jazayeri A, Tavakoli M (2013) Is the human operator in a teleoperation system passive? In: World haptics conference (WHC). IEEE, Daejeon, pp 683–688 LamTMulderMVan PaassenMHaptic feedback in uninhabited aerial vehicle teleoperation with time delayJ Guid Control Dyn20083161728173910.2514/1.35340 ChawdaVO’MalleyMKPosition synchronization in bilateral teleoperation under time-varying communication delaysIEEE/ASME Trans Mechatron201420124525310.1109/TMECH.2014.2317946 SantiagoDDSlawiñskiEMutVAStable delayed bilateral teleoperation of mobile manipulatorsAsian J Control201719311401152365515410.1002/asjc.1461 HokayemPFSpongMWBilateral teleoperation: an historical surveyAutomatica2006421220352057225914910.1016/j.automatica.2006.06.027 NiemeyerGSlotlineJStable adaptive teleoperationIEEE J Ocean Eng199116115216210.1109/48.64895 NuñoEOrtegaRBarabanovNBasañezLA globally stable PD controller for bilateral teleoperatorsIEEE Trans Robot200824375375810.1109/TRO.2008.921565 SlawiñskiEMoyaVSantiagoDMutVForce and position-velocity coordination for delayed bilateral teleoperation of a mobile robotRobotica201937101768178410.1017/S0263574719000249 RichardJPTime-delay systems: an overview of some recent advances and open problemsAutomatica2003391016671694214176510.1016/S0005-1098(03)00167-5 SheridanTBTelerobotics, automation, and human supervisory control1992CambridgeMIT Press SlawiñskiEMutVSantiagoDPd-like controller for delayed bilateral teleoperation of wheeled robotsInt J Control201689816221631352062010.1080/00207179.2016.1144234 JP Richard (1298_CR4) 2003; 39 K Antonakoglou (1298_CR2) 2018; 20 E Nuño (1298_CR14) 2011; 47 DD Santiago (1298_CR8) 2017; 19 E Slawiñski (1298_CR6) 2016; 89 Y Li (1298_CR20) 2018; 6 R Kelly (1298_CR36) 2006 M Franken (1298_CR32) 2011; 27 1298_CR21 M Hou (1298_CR38) 2010; 8 E Nuno (1298_CR13) 2013; 29 H Singh (1298_CR28) 2020; 5 X-W Zhao (1298_CR12) 2020; 34 DA Lawrence (1298_CR25) 1993; 9 H Li (1298_CR24) 2018; 14 V Chawda (1298_CR29) 2014; 20 E Slawiñski (1298_CR37) 2019; 37 PF Hokayem (1298_CR3) 2006; 42 EJ Guajardo-Benavides (1298_CR35) 2023; 138 TB Sheridan (1298_CR1) 1992 D Lee (1298_CR17) 2010; 26 E Estrada (1298_CR40) 2019; 29 HC Cho (1298_CR19) 2005; 15 G-H Xu (1298_CR9) 2020; 67 R Sipahi (1298_CR5) 2011; 31 C-C Hua (1298_CR22) 2010; 26 1298_CR39 T Lam (1298_CR11) 2008; 31 E Nuño (1298_CR18) 2008; 24 M Shahbazi (1298_CR27) 2018; 23 E Slawiñski (1298_CR10) 2017; 71 J-H Ryu (1298_CR31) 2010; 20 E Slawiñski (1298_CR26) 2012; 42 S Islam (1298_CR23) 2013; 62 K Mohammadi (1298_CR34) 2016; 56 M Panzirsch (1298_CR30) 2022; 7 RJ Anderson (1298_CR15) 1989; 34 G Niemeyer (1298_CR16) 1991; 16 1298_CR7 F Hashemzadeh (1298_CR33) 2015; 33 |
| References_xml | – reference: XuG-HQiFLaiQIuHH-CFixed time synchronization control for bilateral teleoperation mobile manipulator with nonholonomic constraint and time delayIEEE Trans Circuits Syst II2020671234523456 – reference: NiemeyerGSlotlineJStable adaptive teleoperationIEEE J Ocean Eng199116115216210.1109/48.64895 – reference: Hua C, Liu PX (2009) Delay-dependent stability analysis of teleoperation systems with unsymmetric time-varying delays. In: Proceedings of IEEE international conference on robotics and automation, pp 1146–1151 – reference: EstradaEYuWLiXStability and transparency of delayed bilateral teleoperation with haptic feedbackInt J Appl Math Comput Sci2019294681692428571110.2478/amcs-2019-0050 – reference: Farkhatdinov I, Ryu J-H, Poduraev J ( 2008) A feasibility study of time-domain passivity approach for bilateral teleoperation of mobile manipulator. In: Proceedings of the IEEE international conference on control, automation and systems, pp 272– 277 – reference: LiHZhangLKawashimaKOperator dynamics for stability condition in haptic and teleoperation system: a surveyInt J Med Robot Comput Assist Surg2018142188110.1002/rcs.1881 – reference: ShahbaziMAtashzarSFTavakoliMPatelRVPosition-force domain passivity of the human arm in telerobotic systemsIEEE/ASME Trans Mechatron201823255256210.1109/TMECH.2018.2793877 – reference: RichardJPTime-delay systems: an overview of some recent advances and open problemsAutomatica2003391016671694214176510.1016/S0005-1098(03)00167-5 – reference: SlawiñskiEMutVSantiagoDPd-like controller for delayed bilateral teleoperation of wheeled robotsInt J Control201689816221631352062010.1080/00207179.2016.1144234 – reference: NuñoEOrtegaRBarabanovNBasañezLA globally stable PD controller for bilateral teleoperatorsIEEE Trans Robot200824375375810.1109/TRO.2008.921565 – reference: KellyRDavilaVSPerezJALControl of robot manipulators in joint space2006LondonSpringer – reference: HokayemPFSpongMWBilateral teleoperation: an historical surveyAutomatica2006421220352057225914910.1016/j.automatica.2006.06.027 – reference: RyuJ-HArtigasJPreuscheCA passive bilateral control scheme for a teleoperator with time-varying communication delayMechatronics201020781282310.1016/j.mechatronics.2010.07.006 – reference: SlawiñskiEMutVAFioriniPSalinasLRQuantitative absolute transparency for bilateral teleoperation of mobile robotsIEEE Trans Syst Man Cybern A201242243044210.1109/TSMCA.2011.2159588 – reference: SinghHPanzirschMCoelhoAOttCProxy-based approach for position synchronization of delayed robot coupling without sacrificing performanceIEEE Robot Autom Lett2020546599660610.1109/LRA.2020.3013860 – reference: HuaC-CLiuXPDelay-dependent stability criteria of teleoperation systems with asymmetric time-varying delaysIEEE Trans Robot201026592593210.1109/TRO.2010.2053736 – reference: PanzirschMPereiraASinghHWeberBFerreiraEGherghescuAHannLExterEHulstFGerdesLExploring planet geology through force-feedback telemanipulation from orbitSci Robot2022765630710.1126/scirobotics.abl6307 – reference: SlawiñskiESantiagoDMutVControl for delayed bilateral teleoperation of a quadrotorISA Trans20177141542510.1016/j.isatra.2017.09.021 – reference: HouMDuanGGuoMNew versions of Barbalat’s lemma with applicationsJ Control Theory Appl201084545547279073910.1007/s11768-010-8178-z – reference: NunoESarrasIBasanezLConsensus in networks of nonidentical Euler–Lagrange systems using P+d controllersIEEE Trans Robot20132961503150810.1109/TRO.2013.2279572 – reference: ZhaoX-WHanGLaiQYueDMulticonsensus of first-order multiagent systems with directed topologiesMod Phys Lett B202034232050240413922510.1142/S0217984920502401 – reference: IslamSLiuXPEl SaddikATeleoperation systems with symmetric and unsymmetric time varying communication delayIEEE Trans Instrum Meas201362112943295310.1109/TIM.2013.2266039 – reference: AntonakoglouKXuXSteinbachEMahmoodiTDohlerMToward haptic communications over the 5G tactile internetIEEE Commun Surv Tuts20182043034305910.1109/COMST.2018.2851452 – reference: LiYYinYZhangDAdaptive task-space synchronization control of bilateral teleoperation systems with uncertain parameters and communication delaysIEEE Access201865740574810.1109/ACCESS.2018.2789864 – reference: SheridanTBTelerobotics, automation, and human supervisory control1992CambridgeMIT Press – reference: HashemzadehFTavakoliMPosition and force tracking in nonlinear teleoperation systems under varying delaysRobotica20153341003101610.1017/S026357471400068X – reference: Dyck M, Jazayeri A, Tavakoli M (2013) Is the human operator in a teleoperation system passive? In: World haptics conference (WHC). IEEE, Daejeon, pp 683–688 – reference: LawrenceDAStability and transparency in bilateral teleoperationIEEE Trans Robot Autom19939562463710.1109/70.258054 – reference: NuñoEBasañezLOrtegaRPassivity-based control for bilateral teleoperation: a tutorialAutomatica2011473485495287830110.1016/j.automatica.2011.01.004 – reference: ChoHCParkJHStable bilateral teleoperation under a time delay using a robust impedance controlMechatronics200515561162510.1016/j.mechatronics.2004.05.006 – reference: Guajardo-BenavidesEJArteagaMAOn the finite time force estimation for bilateral teleoperation of robot manipulators with time varying delaysControl Eng Pract202313810.1016/j.conengprac.2023.105622 – reference: MohammadiKTalebiHAZareinejadMA novel position and force coordination approach in four channel nonlinear teleoperationComput Electr Eng20165668869910.1016/j.compeleceng.2016.08.003 – reference: SlawiñskiEMoyaVSantiagoDMutVForce and position-velocity coordination for delayed bilateral teleoperation of a mobile robotRobotica201937101768178410.1017/S0263574719000249 – reference: SantiagoDDSlawiñskiEMutVAStable delayed bilateral teleoperation of mobile manipulatorsAsian J Control201719311401152365515410.1002/asjc.1461 – reference: ChawdaVO’MalleyMKPosition synchronization in bilateral teleoperation under time-varying communication delaysIEEE/ASME Trans Mechatron201420124525310.1109/TMECH.2014.2317946 – reference: LamTMulderMVan PaassenMHaptic feedback in uninhabited aerial vehicle teleoperation with time delayJ Guid Control Dyn20083161728173910.2514/1.35340 – reference: FrankenMStramigioliSMisraSSecchiCMacchelliABilateral telemanipulation with time delays: a two-layer approach combining passivity and transparencyIEEE Trans Robot201127474175610.1109/TRO.2011.2142430 – reference: LeeDHuangKPassive-set-position-modulation framework for interactive robotic systemsIEEE Trans Robot201026235436910.1109/TRO.2010.2041877 – reference: SipahiRNiculescuS-IAbdallahCTMichielsWGuKStability and 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| SubjectTerms | Complexity Control Control and Systems Theory Dynamical Systems Engineering Vibration |
| Title | Force and position coordination for delayed bilateral teleoperation of a manipulator robot |
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