Skip to main content

Advertisement

SpringerLink
Log in

A Novel Grasping Teleoperation Control for Dual-Handed System

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

Abstract

In this paper, we propose a novel dual-handed master single slave teleoperation framework based on the four-channel structure and wave variable theory. Through the coordination of dual-handed masters, the teleoperation system may exert more accurate and flexible operations, such as grasping soft objects. In practice, it is inevitable to generate partial active power by human operators, which may decrease the stability of the system. Considering the partial active power in dual-handed masters, we discuss and give the definite maximum proportion to stabilize the system. With the proposed framework and the partial active power of dual-handed masters, we design an energy flow-based teleoperation control that combines the adaptive fuzzy sliding mode controller with a disturbance observer to maintain stability, increase the tracking accuracy and enhance the transparency of the system. The stability of the system is analyzed, and numerical simulations are performed to verify the performance of the proposed control. For real robot experiments, we designed a platform including two Omni robots and an industrial manipulator, which acted as dual-handed masters and a single slave manipulator. A computer is used to connect the communication between the masters and the slave side. Real soft object grasping teleoperations are presented; the results show the high efficiency of the proposed method.

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

Data Availability

The datasets generated during and/or analysed during the current study are not publicly available due to [REASON(S) WHY DATA ARE NOT PUBLIC] but are available from the corresponding author on reasonable request.

Code Availability

The codes generated during and/or analysed during the current study are not publicly available due to [REASON(S) WHY DATA ARE NOT PUBLIC] but are available from the corresponding author on reasonable request.

References

  1. Liu, G., Geng, X., Liu, L., Wang, Y.: Haptic based teleoperation with master-slave motion mapping and haptic rendering for space exploration. Chinese Journal of Aeronautics (2019)

  2. Yang, Q., Liang, K., Su, T., Geng, K., Pan, M.: Broad learning extreme learning machine for forecasting and eliminating tremors in teleoperation. Applied Soft Computing (2021)

  3. Calle, E.G., Mimoso, D., Pouzin, N., Lizy-Destrez, S., Roy, R.N.: Correlation analysis of sleep quality, mood and teleoperation performance in the mdrs206 analog mission. J. Space Safety Eng. (2021)

  4. Wang, T., Li, Y., Zhang, J.-J., Zhang, Y.: A novel bilateral impedance controls for underwater tele-operation systems. Appl. Soft Comput. 91, 106194 (2020)

    Article  Google Scholar 

  5. Mo, Y., Song, A., Wang, T.: Underwater multilateral tele-operation control with constant time delays. Comput. Electr. Eng. 96, 107473 (2021)

    Article  Google Scholar 

  6. Wang, T., Sun, Z., Song, A., Xiong, P., Liu, P.X.: Sliding mode impedance control for dual hand master single slave teleoperation systems. IEEE Trans. Intell. Transport, Syst (2021)

    Google Scholar 

  7. Haidegger, T., Kovács, L., Precup, R., Preitl, S., Benyó, B., Benyó, Z.: Cascade control for telerobotic systems serving space medicine. IFAC Proceedings Volumes 44, 3759–3764 (2011)

    Article  Google Scholar 

  8. Koh, K.H., Farhan, M., Yeung, K.P.C., Tang, D.C.H., Lau, M.P.Y., Cheung, P.K., Lai, K.W.C.: Teleoperated service robotic system for on-site surface rust removal and protection of high-rise exterior gas pipes. Automation in Construction 125, 103609 (2021)

    Article  Google Scholar 

  9. Adami, P., Rodrigues, P.B., Woods, P.J., Becerik-Gerber, B., Soibelman, L., Copur-Gencturk, Y., Lucas, G.M.: Effectiveness of vr-based training on improving construction workers’ knowledge, skills, and safety behavior in robotic teleoperation. Adv. Eng. Inf. 50, 101431 (2021)

    Article  Google Scholar 

  10. Visakamoorthi, B., Muthukumar, P.: Fuzzy sampled-data control for single-master multi-slave teleoperation systems with stochastic actuator faults. Math. Comput. Simul. 198, 375–387 (2022)

    Article  MathSciNet  MATH  Google Scholar 

  11. Ji, Y., Liu, D., Guo, Y.: Adaptive neural network based position tracking control for dual-master/single-slave teleoperation system under communication constant time delays. ISA transactions (2019)

  12. Banthia, V., Zareinia, K., Balakrishnan, S., Sepehri, N.: A lyapunov stable controller for bilateral haptic teleoperation of single-rod hydraulic actuators. Journal of Dynamic Systems Measurement and Control-transactions of The Asme 139, 111001 (2017)

    Article  Google Scholar 

  13. Baranitha, R., Mohajerpoor, R., Rakkiyappan, R.: Bilateral teleoperation of single-master multislave systems with semi-markovian jump stochastic interval time-varying delayed communication channels. IEEE Transactions on Cybernetics 51, 247–257 (2021)

    Article  Google Scholar 

  14. Farahmandrad, M., Ganjefar, S., Talebi, H.A., Bayati, M.: A novel cooperative teleoperation framework for nonlinear time-delayed single-master/multi-slave system. Robotica 38, 475–492 (2019)

    Article  Google Scholar 

  15. Farooq, U.B., Gu, J.J., El-Hawary, M.E., Asad, M.U., Abbas, G.: Fuzzy model based bilateral control design of nonlinear tele-operation system using method of state convergence. IEEE Access 4, 4119–4135 (2016)

    Article  Google Scholar 

  16. Khanesar, M.A., Kaynak, O., Teshnehlab, M.: Direct model reference takagisugeno fuzzy control of siso nonlinear systems. IEEE Transactions on Fuzzy Systems 19, 914–924 (2011)

    Article  Google Scholar 

  17. Li, J.N., Li, L.S.: Reliable control for bilateral teleoperation systems with actuator faults using fuzzy disturbance observer. IET Control Theory and Applications 11(3), 446–455 (2016)

    Article  MathSciNet  Google Scholar 

  18. Wang, Z., Lam, H.K., Xiao, B., Chen, Z., Liang, B., Zhang, T.: Event-triggered prescribed-time fuzzy control for space teleoperation systems subject to multiple constraints and uncertainties. IEEE Transactions on Fuzzy Systems 29, 2785–2797 (2021)

    Article  Google Scholar 

  19. Yang, X., Yan, J., Hua, C., Guan, X.: Stabilisation for teleoperation systems with sampled-data information feedback. International Journal of Control 92, 2201–2209 (2019)

    Article  MathSciNet  MATH  Google Scholar 

  20. Zhang, W., Tang, Y., Huang, T., Vasilakos, A.V.: Consensus of networked eulerlagrange systems under time-varying sampled-data control. IEEE Transactions on Industrial Informatics 14, 535–544 (2018)

    Article  Google Scholar 

  21. Baranitha, R., Rakkiyappan, R., Li, X.: Ts fuzzy model-based single-master multislave teleoperation systems with decentralized communication structure and varying time delays. IEEE Transactions on Fuzzy Systems 28, 3406–3417 (2020)

    Article  Google Scholar 

  22. Kebria, P.M., Khosravi, A., Nahavandi, S., Shi, P., Alizadehsani, R.: Robust adaptive control scheme for teleoperation systems with delay and uncertainties. IEEE Transactions on Cybernetics 50, 3243–3253 (2020)

    Article  Google Scholar 

  23. Zakerimanesh, A., Hashemzadeh, F., Torabi, A.R., Tavakoli, M.: A cooperative paradigm for task-space control of multilateral nonlinear teleoperation with bounded inputs and time-varying delays. Mechatronics (2019)

  24. Hashemzadeh, F., Sharifi, M., Tavakoli, M.: Nonlinear trilateral teleoperation stability analysis subjected to time-varying delays. Control Engineering Practice 56, 123–135 (2016)

  25. Zakerimanesh, A., Hashemzadeh, F., Ghiasi, A.R.: Dual-user nonlinear teleoperation subjected to varying time delay and bounded inputs. ISA transactions 68, 33–47 (2017)

    Article  Google Scholar 

  26. Kong, L., He, W., Yang, C., Li, Z., Sun, C.: Adaptive fuzzy control for coordinated multiple robots with constraint using impedance learning. IEEE Trans. Cybern. 49(8), 3052–3063 (2019). https://doi.org/10.1109/TCYB.2018.2838573

    Article  Google Scholar 

  27. Kong, L., He, W., Dong, Y., Cheng, L., Yang, C., Li, Z.: Asymmetric bounded neural control for an uncertain robot by state feedback and output feedback. IEEE Transactions on Systems, Man, and Cybernetics: Systems 51(3), 1735–1746 (2021). https://doi.org/10.1109/TSMC.2019.2901277

    Article  Google Scholar 

  28. Kong, L., He, W., Yang, W., Li, Q., Kaynak, O.: Fuzzy approximation-based finite-time control for a robot with actuator saturation under time-varying constraints of work space. IEEE Transactions on Cybernetics 51(10), 4873–4884 (2021). https://doi.org/10.1109/TCYB.2020.2998837

    Article  Google Scholar 

  29. Kong, L., He, W., Liu, Z., Yu, X., Silvestre, C.: Adaptive tracking control with global performance for output-constrained mimo nonlinear systems. IEEE Transactions on Automatic Control, 1–8 (2022). https://doi.org/10.1109/TAC.2022.3201258

  30. Cheng, L., Tavakoli, M.: Neural network-based physiological organ motion prediction and robot impedance control for teleoperated beating-heart surgery. Biomed. Signal Process. Control. 66, 102423 (2021)

    Article  Google Scholar 

  31. Zhang, Z., Yi, C., Yi, Y.: Control strategy research of puncture surgery robotic teleoperation system. Microcomputer & Its Applications (2014)

  32. Yuen, S.G., Kettler, D.T., Howe, R.D.: Robotic motion compensation for beating intracardiac surgery. 2008 10th International Conference on Control, Automation, Robotics and Vision, 617–622 (2008)

  33. Yuen, S.G., Kesner, S.B., Vasilyev, N.V., del Nido, P.J., Howe, R.D.: 3d ultrasound-guided motion compensation system for beating heart mitral valve repair. Medical image computing and computer-assisted intervention : MICCAI... International Conference on Medical Image Computing and Computer-Assisted Intervention 11 Pt 1, 711–9 (2008)

  34. Lin, A., Tang, Y., Gan, M.-F., Huang, L., Kuang, S., Sun, L.: A virtual fixtures control method of surgical robot based on human arm kinematics model. IEEE Access 7, 135656–135664 (2019)

    Article  Google Scholar 

  35. Higashino, A., Yamashita, Y., Kobayashi, K.: Control of bilateral teleoperation system consisting of heterogeneous manipulators with communication delay. IFAC-PapersOnLine (2019)

  36. Wang, T., Ji, X., Song, A., Madani, K., Chohra, A., Lu, H., Monero, R.: Output-bounded and rbfnn-based position tracking and adaptive force control for security tele-surgery. ACM Trans. Multimedia Comput. Commun. Appl. 17(2s) (2021). https://doi.org/10.1145/3394920

  37. Chawda, V., Omalley, M.K.: Position synchronization in bilateral teleoperation under time-varying communication delays. IEEE/ASME Transactions on Mechatronics 20, 245–253 (2015)

    Article  Google Scholar 

  38. Zhao, D., Li, S., Gao, F.: A new terminal sliding mode control for robotic manipulators. International Journal of Control 82(10), 1804–1813 (2009)

Download references

Funding

This work was supported by the National Natural Science Foundation of China [grant numbers No. 61906086].

Author information

Authors and Affiliations

  1. College of Electrical Engineering and Control Science, Nanjing Tech University, No. 30, Puzhu South Road, Jiangbei New District, 211816, Nanjing, Jiangsu, China

    Dekun Zheng, Ting Wang & Liang Li

  2. Signals, Images, and Intelligent Systems Laboratory, Paris Est University, Arrondissement de Melun, 77127, Paris, Ile-de-France, France

    Kurosh Madani

Authors
  1. Dekun Zheng
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ting Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Liang Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Kurosh Madani
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

Dekun Zheng: Software, Writing-Original draft preparation. Ting Wang: Conceptualization, Methodology. Liang Li: Reviewing and Editing. Kurosh Madani: Editing.

Corresponding author

Correspondence to Ting Wang.

Ethics declarations

Ethics approval

We declare that all content does not involve ethics.

Consent to participate

All authors agree to participate.

Consent for publication

All authors agree to publish.

Competing interests

The authors declare that they have no conflict of interest.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zheng, D., Wang, T., Li, L. et al. A Novel Grasping Teleoperation Control for Dual-Handed System. J Intell Robot Syst 108, 33 (2023). https://doi.org/10.1007/s10846-023-01863-w

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s10846-023-01863-w

Keywords

Search

Navigation