The improvement of direct human–robot physical interaction has recently become one of the strongest motivation factors in robotics research. Impedance/admittance control methods are key technologies in several directions of advanced robotics such as dexterous manipulation, haptics and telemanipulation. In this paper, we propose a control scheme and a design technique for stabilising shared impedance/admittance-based bilateral telemanipulation under varying time delay. The proposed scheme introduces delay-adaptive non-linear damping to stabilise the impedance model. A modified version of the tensor product model transformation is applied to determine the tensor product type polytopic linear parameter varying (LPV) representation of the impedance controlled interaction model, such that the value of the actual time delay becomes an external parameter rather than an inherent property of the system. The main benefit of the proposed approach is that the model form it produces is amenable to the immediate application of modern, linear matrix inequality (LMI)-based multi-objective synthesis methods. The viability of the proposed methodology is demonstrated through a single DoF force reflecting tele-grasping application. The results are also confirmed through laboratory experiments which help to further highlight the perspectives of this novel approach.
HoganN. Impedance control: an approach to manipulation. Part I – theory. J Dyn Syst Meas Control1985; 107: 1–7.
2.
HoganN. Impedance control: an approach to manipulation. Part II – implementation. J Dyn Syst Meas Control1985; 107: 8–16.
3.
HoganN. Impedance control: an approach to manipulation. Part III – applications. J Dyn Syst Meas Control1985; 107: 17–24.
4.
YoshikawaT. Multifingered robot hands: control for grasping and manipulation. Annu Rev Control2010; 34: 199–208.
5.
ChenZLiiNJinM. Cartesian impedance control on five-finger dexterous robot hand DLR-HIT II with flexible joint. Intell Robot Appl2010; 6424: 1–12.
6.
KugiAOttCAlbu-SchafferA. On the passivity-based impedance control of flexible joint robots. IEEE Trans Robot2008; 24: 416–429.
7.
Albu-SchäfferAOttCHirzingerG. A unified passivity-based control framework for position, torque and impedance control of flexible joint robots. Int J Robot Res2007; 26: 23–39.
8.
SuzukiSFurutaK. Adaptive impedance control to enhance human skill on a haptic interface system. J Control Sci Eng2012; 2012: 1–1.
9.
Melinte O. The haptic impedance control through virtual environment force compensation. In: Proceedings of the 15th WSEAS international conference on systems. Corfu Island, Greece, July 2011, pp. 381–385. USA: World Scientific and Engineering Academy and Society.
10.
KimWSHannafordBBejczyAK. Force-reflection and shared compliant control in operating telemanipulators with time delay. IEEE Trans Robot Autom1992; 8: 176–185.
11.
Otsuka M, Matsumoto N, Idogaki T, et al. Bilateral telemanipulator system with communication time delay based on force-sum-driven virtual internal models. In: Proceedings of 1995 IEEE international conference on robotics and automation. Nagoya, Japan, 21–27 May 1995, pp. 344–350. New York: IEEE Computer Society.
12.
LoveLJBookWJ. Force reflecting teleoperation with adaptive impedance control. IEEE Trans Syst Man Cybern B: Cybern2004; 34: 159–165.
13.
ChoHCParkJH. Stable bilateral teleoperation under a time delay using a robust impedance control. Mechatronics2005; 15: 611–625.
14.
Ahn SH, Lee KH, Kim YK, et al. A bilateral compliance control for time delayed systems. In: SICE-ICASE international joint conference. Busan, Korea, 18–21 October 2006, Vol1/13, paper no. 06TH8879. pp. 658–662. New York: IEEE.
15.
Do ND and Namerikawa T. Impedance control for force – Reflecting teleoperation with communication delays based on IOS small gain theorem. In: ICCAS-SICE. Fukuoka, Japan, 18–21 August 2009. pp. 4079–4086. New York: IEEE.
16.
Garage W. Robot operating system. [Online], http://www.ros.org. (2013, accessed 8 April 2013)..
MunirSBookWJ. Internet-based teleoperation using wave variables with prediction. IEEE/ASME Trans Mechatron2002; 7: 124–133.
20.
FraissePLelevéA. Teleoperation over IP network: network delay regulation and adaptive control. Auton Robot2003; 15: 225–235.
21.
ZhangJFYangCJChenY. A novel multi-event-based control for robot bilateral tele-operation with an exoskeleton arm under time delay. Proc IMechE, Part C: J Mech Eng Sci2009; 223: 1481–1491.
22.
SmithACHashtrudi-ZaadK. Smith predictor type control architectures for time delayed teleoperation. Int J Rob Res2006; 25: 797–818.
23.
PolushinIGLiuPXLungC. A force-reflection algorithm for improved transparency in bilateral teleoperation with communication delay. IEEE/ASME Trans Mechatron2007; 12: 361–374.
24.
Hirche S, Bauer A and Buss M. Transparency of haptic telepresence systems with constant time delay. In: Proceedings of 2005 IEEE conference on control applications. Toronoto, Canada, 28–31 August, 2005. pp. 328–333. New York: IEEE.
25.
Hulin T, Preusche C and Hirzinger G. Stability boundary for haptic rendering: influence of physical damping. In: 2006 IEEE/RSJ international conference on intelligent robots and systems. Beijing, China, October 2006. pp. 1570–1575. New York: IEEE.
26.
Hulin T, Preusche C and Hirzinger G. Stability boundary for haptic rendering: influence of human operator. In: IEEE/RSJ international conference on intelligent robots and systems, 2008. IROS 2008. Nice, France, 22–26 September, 2008. pp. 3483–3488. New York: IEEE.
27.
GilJJSanchezEHulinT. Stability boundary for haptic rendering: influence of damping and delay. J Comput Inf Sci Eng2009; 9: 011005–011008.
28.
TipsuwanYChowMY. Control methodologies in networked control systems. Control Eng Practice2003; 11: 1099–1111.
29.
KangSHJinMChangPH. A solution to the accuracy/robustness dilemma in impedance control. IEEE/ASME Trans Mechatron2009; 14: 282–294.
30.
Baranyi P, Szeidl L, Várlaki P, et al. Definition of the HOSVD-based canonical form of polytopic dynamic models. In: 3rd international conference on mechatronics (ICM 2006), Budapest, Hungary, 3–5 July 2006, pp. 660–665. New York: IEEE.
31.
BaranyiP. TP model transformation as a way to LMI based controller design. IEEE Trans Ind Electron2004; 51: 387–400.
32.
Baranyi P, Szeidl L, Várlaki P, et al. Numerical reconstruction of the HOSVD-based canonical form of polytopic dynamic models. In: 10th international conference on intelligent engineering systems. London, UK, 26–28 June 2006, pp. 196–201. New York: IEEE.
33.
LathauwerLDMoorBDVandewalleJ. A multilinear singular value decomposition. SIAM J Matrix Anal Appl2000; 21: 1253–1278.
34.
BaranyiPTikkDYamY. From differential equations to PDC controller design via numerical transformation. Comput Ind2003; 51: 281–297.
35.
KolonicFPoljuganAPetrovicI. Tensor product model transformation-based controller design for gantry crane control system – an application approach. Acta Polytechnica Hungarica2006; 3: 95–112.
36.
Precup R, Dioanca L, Petriu EM, et al. Tensor product-based real-time control of the liquid levels in a three tank system. In: 2010 IEEE/ASME international conference on advanced intelligent mechatronics, Montreal, QC, Canada, 6–9 July 2010, pp. 768–773. AIM.
37.
Szabó Z, Gáspár P and Bokor J. A novel control-oriented multi-affine qLPV modeling framework. In: 2010 18th Mediterranean conference on control automation (MED), Marrakech, Morocco, 23–25 June 2010, pp. 1019–1024. New York: IEEE.
38.
Ilea S, Matusko J and Kolonic F. Tensor product transformation based speed control of permanent magnet synchronous motor drives. In: 17th international conference on electrical drives and power electronics, EDPE 2011 (5th Joint Slovak-Croatian Conference), The High Tatras, Slovakia, 28–30 September 2011, pp. 323–328. Slovakia: Slovak Electrotechnical Society.
39.
SunCHuangYQianC. On modeling and control of a flexible air-breathing hypersonic vehicle based on LPV method. Front Electr Electron Eng2012; 7: 56–68.
40.
LuspayTPéniTKulcsarBConstrained freeway traffic control via linear parameter varying paradigms. In: MohammadpourJSchererCW (eds). Control of linear parameter varying systems with applications, Berlin: Springer, 2012, pp. 461–461.
41.
PrecupRDragosCPreitlS. Novel tensor product models for automatic transmission system control. IEEE Syst J2012; 6: 488–498.
42.
TakaricsBGrófPBaranyiP. Friction compensation of an aeroelastic wing – A TP model transformation based approach. In: IEEE 8th International Symposium on Intelligent Systems and Informatics, Subotica, Serbia, 10–11 September. pp. 527–533. New York: IEEE.
43.
LjungL. System identification: theory for the user, 2nd ed. Upper Saddle River, New Jersey, USA: Prentice Hall, 1999.
44.
Baranyi P. Convex hull generation methods for polytopic representations of LPV models. In: 7th IEEE international symposium on applied machine intelligence and Informatics, 2009 – SAMI 2009, Herl'any, Slovakia, 30–31 January 2009, pp. 69–74. New York: IEEE.
45.
Gróf P, Baranyi P and Korondi P. Convex hull manipulation based control performance optimisation. WSEAS Trans Syst Control 2010; 5: 691–700.
46.
Gróf P, Galambos P and Baranyi P. Convex hull manipulation based control performance optimization: case study of impedance model with feedback delay. In: Proceedings of 10th IEEE jubilee international symposium on applied machine intelligence and informatics. Herl’any, Slovakia, 26–28 January 2012, pp. 495–499. New York: IEEE.
47.
TanakaKWangHO. Fuzzy control systems design and analysis: a linear matrix inequality approach, Hoboken, NJ, USA: John Wiley & Sons, Inc, 2001.
48.
Grioli G and Bicchi A. A real-time parametric stiffness observer for VSA devices. In: 2011 IEEE international conference on robotics and automation (ICRA), Shanghai, China, 9–13 May 2011, pp. 5535–5540. New York: IEEE.
GalambosPBaranyiP. Representing the model of impedance controlled robot interaction with feedback delay in polytopic LPV form: TP model transformation based approach. Acta Polytechnica Hungarica2013; 10: 139–157.
51.
Galambos P, Boleraczki M, Juhász A, et al. Development of the prototype of a master-slave servoelectrical gripper with force feedback for telemanipulation tasks. In: Proceedings of the fifth conference on mechanical engineering. BME OMIKK (Penninger AKL, ed), Budapest, Hungary, 25–26 May 2006.
52.
Hirche S and Buss M. Study of teleoperation using realtime communication network emulation. In: IEEE/ASME international conference on advanced intelligent mechatronics, 2003 – AIM 2003 Proceedings. 2003, Kobe, Japan, 20–24 July 2003, pp. 586–591. New York: IEEE.
53.
Van den HofP. Closed-loop issues in system identification. Annu Rev Control1998; 22: 173–186.
