Skip to main content
SpringerLink
Log in

Transparency and Stability of Bilateral Kinesthetic Teleoperation with Time-Delayed Communication

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

Abstract

This paper presents a novel control approach that simultaneously ensures stability and transparency of bilateral kinesthetic teleoperation in case of communication delay. The approach rests upon a straight-forward combination of two-port lossless line theory, proper adaptation of line terminating impedance functions and situation dependent switching of adaptation filters. Application of a resulting transparency oriented control strategy to 1- or multi-DoF telemanipultion systems leads to improvements in human operator's presence feeling and task performance.

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. Aiguo, S., Qingjun, Z., and Weiyi, H.: Identification and control of bilateral telerobot with time delay, in: Proceedings of the IEEE International Conference on Intelligent Robots and Systems IROS1996, Osaka, Japan, 1996, pp. 1353-1358.

  2. Anderson, R. and Spong, M.: Bilateral control of teleoperators with time delay, IEEE Trans. Automat. Control 34 (1989), 494-501.

    Google Scholar 

  3. Anderson, R. and Spong, M.: Asymptotic stability for force reflecting teleoperators with time delay, Internat. J. Robotics Res. 11 (1992), 135-149.

    Google Scholar 

  4. Arcara, P. and Melchiorri, C.: A comparison of control schemes for teleoperation with time delay, in: 1st IFAC Conference Telematics Applications in Automation and Robotics, Weingarten, Germany, July 2001, pp. 505-510.

  5. Baier, H.: Beiträge zur Steigerung der Wirklichkeitsnähe latenzbehafteter visueller und kinästhetischer Telepräsenz-Systeme, VDI-Fortschrittsberichte, Reihe 10, Nr. 716, VDI-Verlag, Düsseldorf, 2003.

    Google Scholar 

  6. Baier, H. and Schmidt, G.: Control aspects of closed-loop haptic teleoperation, in: Proceedings of the 7th International Workshop on Robotics in Alpe-Adria-Danube-Region RAAD, Smolenice, Slovakia, 1998, pp. 151-156.

  7. Baier, H., Buss, M., Freyberger, F., Hoogen, J., Kammermeier, P., and Schmidt, G.: Distributed PC-based haptic, visual and acoustic telepresence system-experiments in virtual and remote environments, in: Proceedings of the IEEE Virtual Reality Conference VR'99, Houston, Texas, 1999, pp. 118-125.

  8. Baier, H., Buss, M., and Schmidt, G.: Stabilität und Modusumschaltung von Regelkreisen in Teleaktionssystemen, in: Automatisierungstechnik, Oldenbourg Verlag, München, 2000, pp. 51-57.

    Google Scholar 

  9. Elhajj, I., Xi, N., Fung, W. K., Liu, Y. H., Li, W. J., Kaga, T., and Fukuda, T.: Haptic information in internet-based teleoperation, IEEE/ASEM Transactions on Mechatronics 6(3) (2001), 295-304.

    Google Scholar 

  10. Ferrell, W. R.: Delayed force feedback, IEEE Trans. Human Factors HFE-8 (1966), 24-32.

    Google Scholar 

  11. Ferrell, W. R. and Sheridan, T. B.: Supervisory control of remote manipulation, IEEE Spectrum 4(10) (1967), 81-88.

    Google Scholar 

  12. Hannaford, B., Ryu, J.-H., Kwon, D.-S., Kim, Y. S., and Song, J.-B.: Testing time domain passivity control of haptic enabled systems, in: 8th International Symposium on Experimental Robotics, Sant'Angelo d'Ischia, Italy, July 2002.

  13. Hashtrudi-Zaad, K. and Salcudean, S. E.: Adaptive transparent impedance reflecting teleoperation, in: Proceedings of the IEEE International Conference on Robotics and Automation ICRA 1996, Minneapolis, Minnesota, April 1996, pp. 1369-1374.

  14. Hashtrudi-Zaad, K. and Salcudean, S. E.: Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators, Internat. J. Robotics Res. 20(6) (2001), 419-445.

    Google Scholar 

  15. Hashtrudi-Zaad, K. and Salcudean, S. E.: Bilateral parallel force/position teleoperation control, J. Robotic Systems 19(4) (2002), 155-167.

    Google Scholar 

  16. Hu, Z., Salcudean, S. E., and Loewen, P. D.: Optimization-based teleoperation controller design, in: 13th Triennial World Congress, San Francisco, USA, IFAC, 1996, pp. 405-410.

    Google Scholar 

  17. Kosuge, K., Murayama, H., and Takeo, K.: Bilateral feedback control of telemanipulators via computer networks, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, Osaka, Japan, 1996, pp. 1380-1385.

  18. Lawrence, D. A.: Stability and transparency in bilateral teleoperation, IEEE Trans. Robotics Automat. 9(5) (1993), 624-637.

    Google Scholar 

  19. Niemeyer, G.: Using wave variables in time delayed force reflecting teleoperation, PhD thesis, MIT, Cambridge, MA, 1996.

    Google Scholar 

  20. Niemeyer, G. and Slotine, J.-J. E.: Towards force-reflecting teleoperation over the Internet, in: Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998, pp. 1909-1915.

  21. Ortega, R., Loría, A., Nicklasson, P. J., and Sira-Ramírez, H.: Passivity-based Control of Euler-Lagrange Systems, Springer-Verlag, London, 1998.

    Google Scholar 

  22. Yokokohji, Y., Imaida, T., and Yoshikawa, T.: Bilateral teleoperation under time-varying communication delay, in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea, Oct. 1999, pp. 1854-1859.

  23. Yokokohji, Y., Imaida, T., and Yoshikawa, T.: Bilateral control with energy balance monitoring under time-varying communication delay, in: Proceedings of the IEEE International Conference on Robotics & Automation, San Francisco, California, April 2000, pp. 2684-2689.

Download references

Author information

Authors and Affiliations

  1. Institute of Automatic Control Engineering, Technische Universität, München, Germany

    Hubert Baier & Günther Schmidt

Authors
  1. Hubert Baier
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Günther Schmidt
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Baier, H., Schmidt, G. Transparency and Stability of Bilateral Kinesthetic Teleoperation with Time-Delayed Communication. Journal of Intelligent and Robotic Systems 40, 1–22 (2004). https://doi.org/10.1023/B:JINT.0000034338.53641.d0

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/B:JINT.0000034338.53641.d0

Search

Navigation