A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure...A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.展开更多
This paper presents our experience in developing and implementing Internet telerobotics system. Internet telerobotics system refers to a robot system controlled and monitored remotely through the Internet. A robot man...This paper presents our experience in developing and implementing Internet telerobotics system. Internet telerobotics system refers to a robot system controlled and monitored remotely through the Internet. A robot manipulator with five degrees of freedom, called Mentor, is employed. Client-server architecture is chosen as a platform for our Internet telerobotics system. Three generations of telerobotics systems have evolved in this research. The first generation was based on CGI and two tiered architectures, where a client presents a Graphical User Interface to the user, and utilizes the user＇s data entry and actions to perform requests to robot server running on a different machine. The second generation was developed using Java. We also employ Java 3D for creating and manipulating 3D geometry of manipulator links, and for constructing the structures used in rendering that geometry, resulting in 3D robot movement simulation presented to the users （clients） through their web browser. Recent development in our Internet telerobotics includes object recognition through image captured by a camera, which poses challenging problem, giving the undeterministic latency of the Internet. The third generation is centered around the use of CORBA for development platform of distributed internet telerobotics system, aimed at distributing task of telerobotics system.展开更多
In telerobotic system for remote welding, human-machine interface is one of the most important factor for enhancing capability and efficiency. This paper presents an architecture design of human-machine interface for ...In telerobotic system for remote welding, human-machine interface is one of the most important factor for enhancing capability and efficiency. This paper presents an architecture design of human-machine interface for welding telerobotic system： welding multi-modal human-machine interface. The human-machine interface integrated several control modes, which are namely shared control, teleteaching, supervisory control and local autonomous control. Space mouse, panoramic vision camera and graphics simulation system are also integrated into the human-machine interface for welding teleoperation. Finally, weld seam tracing and welding experiments of U-shape seam are performed by these control modes respectively. The results show that the system has better performance of human-machine interaction and complexity environment welding.展开更多
Bilateral telerobot can help human operator feel and control the remote pre unknown environment as if he/she is at the remote site, which is usually called “telepresence”. However, the transmission time delay betw...Bilateral telerobot can help human operator feel and control the remote pre unknown environment as if he/she is at the remote site, which is usually called “telepresence”. However, the transmission time delay between master manipulator and slave manipulator causes instability of the telerobot system and bad “telepresence” of human operator. In this paper, a new adaptive and passive control scheme based on active impedance matching is proposed to guarantee stability and transparency of the bilateral telerobot system. A genetic algorithm (GA) is used in this control scheme to directly identify parameters of the environment impedance.展开更多
A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelit...A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.展开更多
Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization commun...Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization communication driven method is proposed to overcome the negative effects induced by time delay. This method is a non-time based method and it can get rid of the effects of time in the control loop of telerobotics. Stability, transparency and synchronization can be maintained in it by event-driven method. Multimodal enhanced telerobotics is put forward with its feedback including force, video, audio and temperature etc. The use of multimodal feedback improves the efficiency and safety of the whole system. Synchronization in multimodal feedback is hard to ensure and event-driven method is also good for it. Experiments on an Internet-based shaft-hole assemblage system show good results by using event synchronization communication driven method and UDP protocol.展开更多
3D reconstruction of environment and weld workpiece can provide geometrical model for telerobotic welding and improve its intelligence. A novel framework of spacetime stereo is employed to overcome the lack of texture...3D reconstruction of environment and weld workpiece can provide geometrical model for telerobotic welding and improve its intelligence. A novel framework of spacetime stereo is employed to overcome the lack of texture of the weld workpiece and obtain subpixel disparity map of the scene. Anisotropic diffusion is adopted to smooth the original subpixel disparity map in order to reduce the noise while preserving the depth discontinuity. A simple algorithm of generation triangle mesh surface from the disparity map of the spucetime stereo is presented. The experimental results of real weld scenes are shown.展开更多
A PUMA562 robot has been connected to the Internet and can be controlled through the web browser. The remote user receives still images of robot workspace, coordinates and gripper state and can control the gripper to ...A PUMA562 robot has been connected to the Internet and can be controlled through the web browser. The remote user receives still images of robot workspace, coordinates and gripper state and can control the gripper to pick up blocks and place them to build a structure. An Internet server and a robot server were built to implement this telerobot system. This two-layer server architecture can be used in other Internet-based telerobot system without changing most part of the system.展开更多
Camera- card method is a classical image input method in Internet- based telerobotic control system. However, there are some disadvantages like high- cost and complicated application in the classical method.Based on T...Camera- card method is a classical image input method in Internet- based telerobotic control system. However, there are some disadvantages like high- cost and complicated application in the classical method.Based on TWAIN criterion, a new single USB camera method is proposed in this paper. This method has been implemented by VC++ to drive universal digital image devices like USB camera. Compared to the camera- card method, the proposed method has a lower cost and a more flexible structure in applica- tions such as Internet- based telerobotic control system.展开更多
Robot teleoperation plays an important role in industrial manufacturing in unknown and dangerous environments beyond human reach.In telerobotic manufacturing tasks,environmental interaction forces may vary significant...Robot teleoperation plays an important role in industrial manufacturing in unknown and dangerous environments beyond human reach.In telerobotic manufacturing tasks,environmental interaction forces may vary significantly from task to task.Therefore,it is crucial to provide operators with the specific proportional feedback of environmental interaction forces to enhance their environmental awareness and manipulation capabilities.However,variable time delays and various scales of environmental interaction force feedback seriously affect the system stability,which should be rigorously addressed when designing control parameters.To cope with these difficulties,a position and scaled force tracking control framework is proposed and the LyapunovKrasovskii theory is used to obtain a simple algebraic stability criterion with the scaling factor of the environmental interaction force feedback.In addition,a low-pass filter-based radial basis function neural network is designed to avoid the effect of the measurement noise and the sudden change of the non-passive environmental interaction force on the system stability.Compared with different controllers in various telerobotic manufacturing tasks such as heavy lifting,cutting,and polishing,our proposed method achieves better position and scaled force tracking performance.展开更多
The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Differ...The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous pulses.To improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.展开更多
Telerobotic systems become more and more important due to emerging hi-technologyand practical requirement in modern society. This paper studies+ and integrates the modeling, taskscheduling, action planning and control...Telerobotic systems become more and more important due to emerging hi-technologyand practical requirement in modern society. This paper studies+ and integrates the modeling, taskscheduling, action planning and control of telerobot systems. Such hybrid syStems often involve coalmunication, command and control, and are so complex that no efficient and simple method could befound to analyze and design systems. To increase the efficiency, reliability and safety oftelrobot syStems,the consideration of task scheduling and action planning in a unified framework could be an importantstep. The discrete-event dynamics is modeled as a linear state-spare equation in Mad-Algebra sense.Performance evaluation can be carried out efficiently. Then analysis about time-delay continuous-timedynamics is given for the scheduling and control, which shows that, to simplify the design procedure,it is necessary to present a good delay scheduling, for example, by changing multi-time-delays to singleones in advance. Robustness conditions are derived using graph theory for dipcrete-event dynamics andmatrix analysis for continuous-time dynamics.展开更多
文摘A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.
文摘This paper presents our experience in developing and implementing Internet telerobotics system. Internet telerobotics system refers to a robot system controlled and monitored remotely through the Internet. A robot manipulator with five degrees of freedom, called Mentor, is employed. Client-server architecture is chosen as a platform for our Internet telerobotics system. Three generations of telerobotics systems have evolved in this research. The first generation was based on CGI and two tiered architectures, where a client presents a Graphical User Interface to the user, and utilizes the user＇s data entry and actions to perform requests to robot server running on a different machine. The second generation was developed using Java. We also employ Java 3D for creating and manipulating 3D geometry of manipulator links, and for constructing the structures used in rendering that geometry, resulting in 3D robot movement simulation presented to the users （clients） through their web browser. Recent development in our Internet telerobotics includes object recognition through image captured by a camera, which poses challenging problem, giving the undeterministic latency of the Internet. The third generation is centered around the use of CORBA for development platform of distributed internet telerobotics system, aimed at distributing task of telerobotics system.
文摘In telerobotic system for remote welding, human-machine interface is one of the most important factor for enhancing capability and efficiency. This paper presents an architecture design of human-machine interface for welding telerobotic system： welding multi-modal human-machine interface. The human-machine interface integrated several control modes, which are namely shared control, teleteaching, supervisory control and local autonomous control. Space mouse, panoramic vision camera and graphics simulation system are also integrated into the human-machine interface for welding teleoperation. Finally, weld seam tracing and welding experiments of U-shape seam are performed by these control modes respectively. The results show that the system has better performance of human-machine interaction and complexity environment welding.
文摘Bilateral telerobot can help human operator feel and control the remote pre unknown environment as if he/she is at the remote site, which is usually called “telepresence”. However, the transmission time delay between master manipulator and slave manipulator causes instability of the telerobot system and bad “telepresence” of human operator. In this paper, a new adaptive and passive control scheme based on active impedance matching is proposed to guarantee stability and transparency of the bilateral telerobot system. A genetic algorithm (GA) is used in this control scheme to directly identify parameters of the environment impedance.
文摘A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.
文摘Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization communication driven method is proposed to overcome the negative effects induced by time delay. This method is a non-time based method and it can get rid of the effects of time in the control loop of telerobotics. Stability, transparency and synchronization can be maintained in it by event-driven method. Multimodal enhanced telerobotics is put forward with its feedback including force, video, audio and temperature etc. The use of multimodal feedback improves the efficiency and safety of the whole system. Synchronization in multimodal feedback is hard to ensure and event-driven method is also good for it. Experiments on an Internet-based shaft-hole assemblage system show good results by using event synchronization communication driven method and UDP protocol.
文摘3D reconstruction of environment and weld workpiece can provide geometrical model for telerobotic welding and improve its intelligence. A novel framework of spacetime stereo is employed to overcome the lack of texture of the weld workpiece and obtain subpixel disparity map of the scene. Anisotropic diffusion is adopted to smooth the original subpixel disparity map in order to reduce the noise while preserving the depth discontinuity. A simple algorithm of generation triangle mesh surface from the disparity map of the spucetime stereo is presented. The experimental results of real weld scenes are shown.
文摘A PUMA562 robot has been connected to the Internet and can be controlled through the web browser. The remote user receives still images of robot workspace, coordinates and gripper state and can control the gripper to pick up blocks and place them to build a structure. An Internet server and a robot server were built to implement this telerobot system. This two-layer server architecture can be used in other Internet-based telerobot system without changing most part of the system.
基金Natural Science Foundation project sponsored byHenan Education Bureau: Research on OptimalMulti-Joint Industrial Robot Movement Design.(Project No. 20015100024 )
文摘Camera- card method is a classical image input method in Internet- based telerobotic control system. However, there are some disadvantages like high- cost and complicated application in the classical method.Based on TWAIN criterion, a new single USB camera method is proposed in this paper. This method has been implemented by VC++ to drive universal digital image devices like USB camera. Compared to the camera- card method, the proposed method has a lower cost and a more flexible structure in applica- tions such as Internet- based telerobotic control system.
基金supported by the National Natural Science Foundation of China(Grant Nos.52188102,52105515,62373161)。
文摘Robot teleoperation plays an important role in industrial manufacturing in unknown and dangerous environments beyond human reach.In telerobotic manufacturing tasks,environmental interaction forces may vary significantly from task to task.Therefore,it is crucial to provide operators with the specific proportional feedback of environmental interaction forces to enhance their environmental awareness and manipulation capabilities.However,variable time delays and various scales of environmental interaction force feedback seriously affect the system stability,which should be rigorously addressed when designing control parameters.To cope with these difficulties,a position and scaled force tracking control framework is proposed and the LyapunovKrasovskii theory is used to obtain a simple algebraic stability criterion with the scaling factor of the environmental interaction force feedback.In addition,a low-pass filter-based radial basis function neural network is designed to avoid the effect of the measurement noise and the sudden change of the non-passive environmental interaction force on the system stability.Compared with different controllers in various telerobotic manufacturing tasks such as heavy lifting,cutting,and polishing,our proposed method achieves better position and scaled force tracking performance.
文摘The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous pulses.To improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.
文摘Telerobotic systems become more and more important due to emerging hi-technologyand practical requirement in modern society. This paper studies+ and integrates the modeling, taskscheduling, action planning and control of telerobot systems. Such hybrid syStems often involve coalmunication, command and control, and are so complex that no efficient and simple method could befound to analyze and design systems. To increase the efficiency, reliability and safety oftelrobot syStems,the consideration of task scheduling and action planning in a unified framework could be an importantstep. The discrete-event dynamics is modeled as a linear state-spare equation in Mad-Algebra sense.Performance evaluation can be carried out efficiently. Then analysis about time-delay continuous-timedynamics is given for the scheduling and control, which shows that, to simplify the design procedure,it is necessary to present a good delay scheduling, for example, by changing multi-time-delays to singleones in advance. Robustness conditions are derived using graph theory for dipcrete-event dynamics andmatrix analysis for continuous-time dynamics.
