Improved bilateral teleoperation with proactive haptic sensing and transmission

Author:

Kuzu Ahmet1,Baran Eray A.2,Bogosyan Seta3,Gokasan Metin4,Sabanovic Asif5

Affiliation:

1. TÜBİTAK BİLGEM BTE, Kocaeli, Turkey

2. Istanbul Bilgi University, Istanbul, Turkey

3. University of Alaska Fairbanks, Fairbanks, AK, USA

4. Istanbul Technical University, Istanbul, Turkey

5. Sabancı University, Istanbul, Turkey

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.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Predictive Display With Perspective Projection of Surroundings in Vehicle Teleoperation to Account Time-Delays;IEEE Transactions on Intelligent Transportation Systems;2023-09

2. Bondgraph Modelling for the Master-Slave Robotic Teleoperation System;2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN);2019-10

3. Observer-Based Control of Bilateral Teleoperation with Time Delay;2018 5th International Conference on Information Science and Control Engineering (ICISCE);2018-07

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