Skip to main content
SpringerLink
Log in

Adaptive Control for State Synchronization of Nonlinear Haptic Telerobotic Systems with Asymmetric Varying Time Delays

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

In this paper, we introduce a new adaptive controller design scheme for nonlinear telerobotic systems with varying time delays where the delays and their variation rates are unknown. The designed controller has the ability to synchronize the state behaviors of the local and the remote robots. In this paper, asymptotic stability in the presence of varying time delays is of interest. Using the proposed controller, asymptotic stability of the bilateral telerobotic system subject to any bounded yet unknown varying delay with a bounded yet unknown rate of change can be guaranteed. Besides the varying time delay, the proposed adaptive controller has the ability to adapt to the parameter variations in the local and the remote robots’ dynamics. It is shown that position and velocity errors between the local and the remote manipulators converge to the zero asymptotically, thus ensuring teleoperation transparency. Experimental and simulation results with a pair of PHANToM haptic devices and a pair of planar manipulators under varying time delays in the communication channel demonstrate the effectiveness of the proposed scheme.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Kuan, C.-P., Young, K.: VR-based teleoperation for robots compliance control. J. Intell. Robot. Syst. 30(4), 377–398 (2001)

    Article  MATH  Google Scholar 

  2. Baier, H., Schmidt, G.: Transparency and stability of bilateral kinesthetic teleoperation with time-delayed communication. J. Intell. Robot. Syst. 40(1), 1–22 (2004)

    Article  Google Scholar 

  3. Alfi, A., Farrokhi, M.: Force reflecting bilateral control of master-slave systems in teleoperation. J. Intell. Robot. Syst. 52(2), 209–232 (2008)

    Article  Google Scholar 

  4. Nitzsche, N., Schmidt, G.: Force-reflecting telepresence in extensive remote environment. J. Intell. Robot. Syst. 50(1), 3–18 (2007)

    Article  Google Scholar 

  5. Sheridan, T.B.: Space teleoperation through time delay: review and prognosis. IEEE Trans. Robot. Autom. 9(5), 592–606 (1993)

    Article  Google Scholar 

  6. Hannaford, B.: A design framework for teleoperators with kinesthetic feedback. IEEE Trans. Robot. Autom. 5(4), 426–434 (1989)

    Article  Google Scholar 

  7. Imaida, T., Yokokohji, Y., Doi, T., Oda, M., Yoshikawa, T.: Groundspace bilateral teleoperation of ETS-VII robot arm by direct bilateral coupling under 7-s time delay condition. IEEE Trans. Robot. Autom. 20(3), 499–511 (2004)

    Article  Google Scholar 

  8. Anderson, R.J., Spong, M.W.: Asymptotic stability for force reflecting teleoperations with time delay. In: IEEE International Conference on Robotics and Automation, pp. 1618–1625 (1989)

  9. Niemeyer, G., Slotine, J.J.E.: Stable adaptive teleoperation. IEEE J. Ocean. Eng. 16, 152–162 (1991)

    Article  Google Scholar 

  10. Niemeyer, G., Slotine, J.J.E.: Telemanipulation with time delays. Int. J. Robot. Res. 23(9), 873–890 (2004)

    Article  Google Scholar 

  11. Lozano, R., Chopra, N., Spong, M.W.: Passivation of force reflecting bilateral teleoperators with time varying delay. In: Proceedings of the 8. Mechatronics Forum, pp. 954–962 (2002)

  12. Leeraphan, S., Maneewan, T., Laowattana, S.: Stable adaptive bilateral control of transparent teleoperation through time-varying delay. In: Proceeding of the International Conference on Intelligent Robots and Systems, vol. 3, pp. 2979–2984 (2002)

  13. Lee, D., Spong, M.W.: Passive bilateral control of teleoperators under constant time delay. IEEE Trans. Robot. 22(2), 269–281 (2006)

    Article  Google Scholar 

  14. Aziminejad, A., Tavakoli, M., Patel, R.V., Moallem, M.: Stability and performance in delayed bilateral teleoperation: theory and experiments. Control Eng. Pract. 16(11), 1329–1343 (2008)

    Article  Google Scholar 

  15. Aziminejad, A., Tavakoli, M., Patel, R.V., Moallem, M.: Transparent time-delayed bilateral teleoperation using wave variables. IEEE Trans. Control Syst. Technol. 16(3), 548–555 (2008)

    Article  Google Scholar 

  16. Desoer, C.A., Vidyasagar, M.: Feedback Systems: Input–Output Properties. Academic Press, New York (1975)

    MATH  Google Scholar 

  17. Hokayem, P.F., Spong, M.W.: Bilateral teleoperation: an historical survey. Automatica 42(12), 2035–2057 (2006)

    Article  MathSciNet  MATH  Google Scholar 

  18. Hosseini-Suny, K., Momeni, H., Janabi-Sharifi, F.: Model reference adaptive control design for a teleoperation systems with output prediction. J. Intell. Robot. Syst. 59(3–4), 319–339 (2010)

    Article  MATH  Google Scholar 

  19. Chopra, N., Spong, M.W.: Passivity-based control of multi-agent systems. In: Advances in Robot Control: from Everyday Physics to Human-Like Movements, pp. 107–134. Springer, Berlin (2006)

    Google Scholar 

  20. Lee, D.J., Spong, M.W.: Passive bilateral teleoperation with constant time delay. IEEE Trans. Robot. 22(2), 269–281 (2006)

    Article  Google Scholar 

  21. Niemeyer, G., Slotine, J.J.E.: Towards force-reflecting teleoperation over the internet. In: Proceeding of International Conference on Robotics and Automation, pp. 1909–1915 (1997)

  22. Gu, Y., Zhang, C., Chong, K.T.: Adaptive passive control with varying time delay. Simul. Model. Pract. Theory 18(1), 1–8 (2010)

    Article  Google Scholar 

  23. Nuño, E., Basañez, L., Ortega, R.: Passivity-based control for bilateral teleoperation: a tutorial. Automatica 47(3), 485–495 (2011)

    Article  MathSciNet  MATH  Google Scholar 

  24. Chopra, N., Spong, M.W.: On synchronization of networked passive systems with time delays and application to bilateral teleoperation. In: Proceeding of Society of Instrument and Control Engineers of Japan (2005)

  25. Angeles, A.R., Nijmeijer, H.: Mutual synchronization of robots via estimated state feedback: a cooperative approach. IEEE Trans. Control Syst. Technol. 12, 542–554 (2004)

    Article  Google Scholar 

  26. Nuño, E., Ortega, R., Basañez, L.: An adaptive controller for nonlinear teleoperators. Automatica 46(1), 155–159 (2010)

    Article  MathSciNet  MATH  Google Scholar 

  27. Kelly, R., Santibáñez, V., Loria, A.: Control of Robot Manipulators in Joint Space. Springer, Berlin (2005)

    Google Scholar 

  28. Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control. Wiley (2006)

  29. Cavusoglu, M.C., Feygin, D., Tendick, F.: A critical study of the mechanical and electrical properties of the phantom haptic interface and improvements for high performance control. Presence-Teleop. Virt. Environ. 11, 555–568 (2002)

    Article  Google Scholar 

  30. Tahmasebi, A.M., Taati, B., Mobasser, F., Hashtrudi-Zaad, K.: Dynamic parameter identification and analysis of a PHANToM haptic device. In: Proceedings of IEEE Conference on Control Applications, pp. 1251–1256 (2005)

Download references

Author information

Authors and Affiliations

  1. Department of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran

    Farzad Hashemzadeh, Iraj Hassanzadeh & Ghasem Alizadeh

  2. Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada

    Farzad Hashemzadeh, Iraj Hassanzadeh & Mahdi Tavakoli

Authors
  1. Farzad Hashemzadeh
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Iraj Hassanzadeh
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Mahdi Tavakoli
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Ghasem Alizadeh
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Farzad Hashemzadeh.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Hashemzadeh, F., Hassanzadeh, I., Tavakoli, M. et al. Adaptive Control for State Synchronization of Nonlinear Haptic Telerobotic Systems with Asymmetric Varying Time Delays. J Intell Robot Syst 68, 245–259 (2012). https://doi.org/10.1007/s10846-012-9678-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-012-9678-5

Keywords

Search

Navigation