Control of bilateral teleoperation with time delay considering operator force sending

Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted f...

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Bibliographic Details
Published in2015 34th Chinese Control Conference (CCC) pp. 6697 - 6702
Main Authors Yongming, Qin, Yuanqing, Xia
Format Conference Proceeding Journal Article
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2015
Subjects
bilateral teleoperation
Conferences
contact force
Delay effects
Force
force sending
Force sensors
Joints
Manipulator dynamics
Manipulators
Mathematical models
Operators
position tracking
Reflection
Robot arms
Sensors
Stability analysis
Tasks
Time delay
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Summary:Force reflection methods are widely used in teleoperation with force sensors on slave manipulator. However, force sensors would impair manipulator structure and may be installed or maintained difficultly on slave site. Additionally, in some tasks operator pays more attention to control the exerted force on environment than to fell the reflection force. Considering these factors, a force sending method is proposed in this paper with force sensors installed only on master manipulator. Adjusted virtual force is provided to operator on master site. Operator force sending and slave manipulator position tracking are achieved without conflict on slave site. Stability analysis is presented based on ISS (input-to-state stability) method and numerical simulations are given to show the effectiveness.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Conference-1
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content type line 23
SourceType-Conference Papers & Proceedings-2
ISSN:2161-2927
1934-1768
DOI:10.1109/ChiCC.2015.7260696