Many researchers have focused on force tracking improvement in teleoperation systems. Various methods have been utilized to reach this aim. This paper focuses on force-reflecting passivity-based architecture. Adding a force error term to conventional passivity-based architecture, a controller has been introduced to improve transparency. A condition has been obtained, which guarantees the stability of the system, while it holds. Moreover, a sliding mode perturbation estimation algorithm has been proposed. The method proved to be asymptotically converging to perturbations. The transparency of system has been compared in simple and force-reflecting passivity-based architectures, and also with and without perturbation estimator. Experiments on a 2-DOF non-linear delayed teleoperation system were conducted to investigate the system’s performance. Experimental results have shown that the controller is stable and force tracking has been improved compared with previous research. Furthermore, the perturbation in the system has been successfully estimated and cancelled. Conclusively, the paper introduces a controller that is stable and compares its performance in force tracking with previous research.
A-BorrasPGA-RobledoPGBarrioJFerreMAraciR (2010) TechnoFusión remote handling laboratory: contributions to nuclear fusion facilities maintenance tasks. International Conference on Applied Robotics for the Power Industry, 1–6.
2.
AndersonRJSpongMW (1989) Bilateral control of tele-operators with time delay. IEEE Transaction on Automated Control34(5): 494–501.
3.
ChoHCParkJH (2005) Stable bilateral teleoperation under a time delay using a robust impedance control. Mechatronics15: 611–625.
4.
ChopraNSpongMWHircheSBussM (2003) Bilateral teleoperation over the internet: the time varying delay problem. Proceedings of American Control Conference, 155–160.
5.
ChopraNSpongMWLozanoR (2004) Adaptive coordination control of bilateral teleoperators with time delay. Proceedings of IEEE Conference of Decision and Control, 4540–4547.
6.
ChopraNSpongMWLozanoR (2008) Synchronization of bilateral teleoperators with time delay. Automatica44: 2142–2148.
7.
ColgateJE (1994) Coupled stability of multiport systems—theory and experiments. ASME Transactions, Journal of Dynamic Systems Measurements and Control116(3): 419–428.
8.
DoNDNamerikawaT (2009) Impedance control for force-reflecting teleoperation with communication delays based on IOS small gain theorem. ICROS-SICE International Conference, 4079–4086.
9.
EusebiAMelchiorriC (1998) Force reflecting telemanipulators with time-delay: stability analysis and control design. IEEE Transactions on Robotics and Automation14(4): 635–640.
10.
GurewitzOSidiM (2001) Estimating one-way delays from cyclic-path delay measurements. Proceedings of IEEE INFOCOM, 1038–1044.
11.
HannafordBWoodLMcAffeeDAZakH (1991) Performance evaluation of a six-axis generalized force-reflecting teleoperator. IEEE Transaction on Systems, Manufacturing and Cybernetics21: 620–633.
12.
Hashtrudi-ZaadKSalcudeanSE (2001) Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators. International Journal of Robotics Research20(6): 419–445.
13.
Hashtrudi-ZaadKSalcudeanSE (2002) Transparency in time-delayed systems and the effects of local force feedback for transparent teleoperation. IEEE Transactions on Robotics and Automation18(1): 108–114.
14.
HoweRD (1994) Tactile sensing and control of robotic manipulation. Journal of Advanced Robotics8: 245–261.
KimJChangPHParkHS (2005) Transparent teleoperation using two-channel control architectures. Intelligent Robotics and Systems, IROS: 1953–1960.
17.
KosugeKMurayamaHTakeoK (1996) Bilateral feedback control of tele-manipulators via computer network. Proceedings IEEE/RSJ International Conference of Intelligent Robots System, 1380–1385.
18.
LawrenceDA (1993) Stability and transparency in bilateral teleoperation. IEEE Transactions on Robotics and Automation9(5): 624–637.
19.
LeeDJSpongMW (2005) Bilateral teleoperation of multiple cooperative robots over delayed communication networks: theory. Proceedings of IEEE International Conference of Robotics and Automation, 362–367.
20.
LeeDJSpongMW (2006) Passive bilateral teleoperation with constant time delay. IEEE Transactions on Robotics22(2): 269–281.
21.
LeungGMHFrancisBAApkarianJ (1995) Bilateral controller for teleoperators with time delay via µ-synthesis. IEEE Transactions on Robotics and Automation11(1): 105–116.
NiemeyerGSlotineJJE (2004) Telemanipulation with time delays. International Journal of Robotics Research23(9): 873–890.
24.
NuñoEOrtegaRBarabanovNBasanezL (2008) A globally stable PD controller for bilateral teleoperators. IEEE Transaction on Robotics24(3): 753–758.
25.
NuñoEBasañezLOrtegaR. (2011) Passivity-based control for bilateral teleoperation: a tutorial. Automatica47: 485–495.
26.
PolushinIGLiuPXLungCH (2007) A force-reflection algorithm for improved transparency in bilateral teleoperation with communication delay. IEEE/ASME Transactions on Mechatronics12(3): June2007.
27.
RileyJMKaberDBDraperJV (2004) Situation awareness and attention allocation measures for quantifying telepresence experiences in teleoperation. Human Factors and Ergonomics in Manufacturing14: 51–67.
28.
SayersCPPaulRPWhitcombLLYoergerDR (2002) Tele-programming for subsea teleoperation using acoustic communication. IEEE Journal of Oceanic Engineering23: 60–71.
29.
SeifabadiRRezaeiSMShiry GhidarySZareinejadMSaadatM (2009) To enhance transparency of a piezo-actuated tele-micromanipulator using passive bilateral control. Robotica28: 1–15.
30.
SheridanTB (1993) Space teleoperation through time delay: review and prognosis. IEEE Transactions on Robotics and Automation9: 592–606.
31.
SoyluSFirmaniFBuckhamBJPodhorodeskiRP (2010) Comprehensive underwater vehicle-manipulator system teleoperation. Oceans2010: 1–8.
32.
SpongMWOrtegaRKellyR (1990) Comments on adaptive manipulator control: a case study. IEEE Transactions on Automatic Control35: 761–762.
33.
SpongMWHutchinsonSVidyasagarM (2005) Robot modelling and control. New York: Wiley.
34.
StramigioliSvan der SchaftAMaschkeBMelchiorriC (2002) Geometric scattering in robotic telemanipulation. IEEE Transaction on Robotics and Automation18(4): 588–596.
35.
YokokohjiYImaidaTYoshikawaT (1999) Bilateral teleoperation under time-varying communication delay. Proceedings of IEEE International Conference of Robotics and Automation, 1854–1859.
36.
ZareinejadMRezaeiSMAbdullahAShiry GhidaryS (2009) Development of a piezo-actuated micro-teleoperation system for cell manipulation. International Journal of Medical Robotics and Computer Assisted Surgery5: 66–76.
