Abstract:
Bilateral local-remote systems allow people to perform complex tasks in a remote or inaccessible environment. Main objectives are robustness, feeling of presence, task pe...Show MoreMetadata
Abstract:
Bilateral local-remote systems allow people to perform complex tasks in a remote or inaccessible environment. Main objectives are robustness, feeling of presence, task performance, and transparency. The capabilities of a bilateral robot system rely on the exchange of measured position and force data. However, the local and remote manipulators are connected via a communication channel that can result in substantial delays. Due to the delay nature, neither exact tracking position nor transparency in teleoperation can be achieved. For this reason, most control approaches are meant to guarantee only position regulation, to solve the consensus problem, with or without a leader, or to synchronize a set of robots by inducing periodic position trajectories. Furthermore, most algorithms are designed assuming that joint velocities are available. In this work, a new teleoperation control-observer scheme is introduced with the following properties. In free movement and without a human operator, the local and the remote manipulators tend either to a periodic trajectory or to a particular position, thus achieving either synchronization or position consensus. When a human operator moves the local robot in free motion, the remote one tends to track the commanded position with the corresponding delay. Additionally, in constrained motion the person will have the feeling of telepresence. Experimental results are provided to test the proposed algorithm.
Date of Conference: 23-26 October 2016
Date Added to IEEE Xplore: 22 December 2016
ISBN Information: