Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,an...Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare domains.This paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current complexity.It elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile devices.In this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of information.The review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough directions.Moreover,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote systems.This underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological bottlenecks.Future research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous environments.With the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.展开更多
Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time ...Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.展开更多
This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and...This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic(i.e., contact force tracking)through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed;2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.展开更多
Teleoperation can assist people to complete various complex tasks in inaccessible or high-risk environments,in which a wearable hand exoskeleton is one of the key devices.Adequate adaptability would be available to en...Teleoperation can assist people to complete various complex tasks in inaccessible or high-risk environments,in which a wearable hand exoskeleton is one of the key devices.Adequate adaptability would be available to enable the master hand exoskeleton to capture the motion of human fingers and reproduce the contact force between the slave hand and its object.This paper presents a novel finger exoskeleton based on the cascading four-link closed-loop kinematic chain.Each finger has an independent closed-loop kinematic chain,and the angle sensors are used to obtain the finger motion including the flexion/extension and the adduction/abduction.The cable tension is changed by the servo motor to transmit the contact force to the fingers in real time.Based on the finger exoskeleton,an adaptive hand exoskeleton is consequently developed.In addition,the hand exoskeleton is tested in a master-slave system.The experiment results show that the adaptive hand exoskeleton can be worn without any mechanical constraints,and the slave hand can follow the motions of each human finger.The accuracy and the real-time capability of the force reproduction are validated.The proposed adaptive hand exoskeleton can be employed as the master hand to remotely control the humanoid five-fingered dexterous slave hand,thus,enabling the teleoperation system to complete complex dexterous manipulation tasks.展开更多
State convergence is a novel control algorithm for bilateral teleoperation of robotic systems. First, it models the teleoperation system on state space and considers all the possible interactions between the master an...State convergence is a novel control algorithm for bilateral teleoperation of robotic systems. First, it models the teleoperation system on state space and considers all the possible interactions between the master and slave systems. Second, it presents an elegant design procedure which requires a set of equations to be solved in order to compute the control gains of the bilateral loop. These design conditions are obtained by turning the master-slave error into an autonomous system and imposing the desired dynamic behavior of the teleoperation system. Resultantly, the convergence of master and slave states is achieved in a well-defined manner. The present study aims at achieving a similar convergence behavior offered by state convergence controller while reducing the number of variables sent across the communication channel. The proposal suggests transmitting composite master and slave variables instead of full master and slave states while keeping the operator's force channel intact. We show that,with these composite and force variables;it is indeed possible to achieve the convergence of states in a desired way by strictly following the method of state convergence. The proposal leads to a reduced complexity state convergence algorithm which is termed as composite state convergence controller. In order to validate the proposed scheme in the absence and presence of communication time delays, MATLAB simulations and semi-real time experiments are performed on a single degree-of-freedom teleoperation system.展开更多
In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is addressed.The design comprises delayed position,velocity and position-velocity signals with the local position and...In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is addressed.The design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators.Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators.Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems.The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites.Finally,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.展开更多
Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects remotely.For the tracking control of teleoperation systems,velocity measurements...Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects remotely.For the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback information.However,due to hardware technology and cost constraints,the velocity measurements are not always available.In addition,the time-varying communication delay makes it challenging to achieve tracking task.This paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication delays.In order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity observer.For the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be avoided.Meanwhile,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically expressed.With the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking conditions.In particular,the relationship between the controller design parameters and the allowable maximum delay values is provided.Finally,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.展开更多
A robust controller design method is presented to guarantee the stability and zero tracking error for teleoperation system with time delay. Through choosing appropriate master and slave parameters, extended state equa...A robust controller design method is presented to guarantee the stability and zero tracking error for teleoperation system with time delay. Through choosing appropriate master and slave parameters, extended state equation about master and master-slave error is achieved, which can be analyzed by using time delay knowledge. Thus delay-independent and delay-dependent criteria are derived in terms of the Lyapunov stability theorem, control parameters are obtained by the feasible of linear matrix inequalities. Experimental results show the validity of these approaches and the performance of master and slave manipulators with delay variations is analyzed.展开更多
A teleoperation system based on predictive simulation is proposed for the sake of compensating the large time delay in the process of teleoperation to a degree and providing a friendly operating interface. The framewo...A teleoperation system based on predictive simulation is proposed for the sake of compensating the large time delay in the process of teleoperation to a degree and providing a friendly operating interface. The framework and function architecture of the system is discussed firstly. Then, the operator interface and a graphics simulation system is described in detail. Furthermore, a predictive algorithm aiming at position control based teleoperation is studied in our research, and the relative framework of predictive simulation is discussed. Finally, the system is applied to spacecraft breakdown maintenance; multi-agent reinforcement learning based semi-autonomous teleoperation is discussed at the same time for safe operation.展开更多
Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presen...Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.展开更多
Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,...Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,a robotic teleoperation system for precise robotic manipulation is established.The data glove and the 7-degrees of freedom(DOFs)force feedback controller are used for the remote control interaction.The control system and the monitor system are designed for the remote precise manipulation.The monitor system contains an image acquisition system and a human-machine interaction module,and aims to simulate and detect the robot running state.Besides,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations.The established robotic teleoperation systemis applied to a series of experiments,and high-precision results are obtained,showing the effectiveness of the physical system.展开更多
This paper investigates resilient consensus control for teleoperation systems under denial-of-service(DoS)attacks.We design resilient controllers with auxiliary systems based on sampled positions of both master and sl...This paper investigates resilient consensus control for teleoperation systems under denial-of-service(DoS)attacks.We design resilient controllers with auxiliary systems based on sampled positions of both master and slave robots,enhancing robustness during DoS attacks.Additionally,we establish stability conditions on DoS attack duration and frequency by applying multivariate small-gain methods to ensure closed-loop stability without the need to solve linear matrix inequalities.Finally,the effectiveness of the controllers is validated through the simulation results,demonstrating that the master-slave synchronization is achieved.展开更多
Telekinesis,as commonly portrayed in science fiction literature and cinema,is a super power wherein users control and manipulate objects absent in physical interaction.In real world,enhancing human–robot interaction ...Telekinesis,as commonly portrayed in science fiction literature and cinema,is a super power wherein users control and manipulate objects absent in physical interaction.In real world,enhancing human–robot interaction needs the synthesis of human intuitive processes with robotic arm.This paper introduces a robotic teleoperation system achieving the essence of telekinetic operations,combining the profound capabilities of augmented reality(AR)with the robotic arm operations.Utilizing AR,the proposed methodology offers operators with a visual feedback,facilitating a level of control surpassing the capacities of natural interfaces.By using AR-driven visual recognition,this system achieves operations in a virtual environment,subsequently actualized in the real world through the robotic arm.Through multiple experiments,we found that the system has a small margin of error in telekinesis operations,meeting the needs of remote operation.Furthermore,our system can operate on objects in the real world.These experiments underscore the capability of the remote control system to assist humans in accomplishing a wider range of tasks through the integration of AR and robotic arms,providing a natural human–robot interaction approach.展开更多
This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. First,an impedance control is designed for the master robot. Second,an adaptive i...This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. First,an impedance control is designed for the master robot. Second,an adaptive inverse control is proposed for the slave robot. Finally,the slave side controller is modified such that the robust stability and performance are achieved. In addition,robust stability analysis has been performed and optimal behavior is ensured by using standard characteristic polynomials. It is shown that despite of presence of randomly-varying time delay,the proposed control algorithm compensates the position drifts efficiently. Demonstrable simulation studies confirm the effectiveness of the proposed control system and its advantages over the existing sliding mode control strategies.展开更多
Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During ...Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During the teleoperation welding process, 6-DOF controller’s signal can be converted into welding torch’s position, velocity or acceleration changing which is being controlled. For welding purposes, control strategies of four modes are designed, which are static position and posture mode, dynamic position and posture mode, velocity mode and acceleration mode. A test and analysis system for testing the tracking accuracy and reliability of control strategy based on virtual reality is developed. The tracking accuracies of the four control strategies are studied in the following tests with straight line trajectory, curve trajectory or space curve trajectory. The results show that the control strategy in dynamic position and posture mode has best stability and strong adaptability which is the most suitable for the teleoperation system.展开更多
A layered architecture of muhisensory integration gripper system is first developed, which includes data acquisition layer, data processing layer and network interface layer. Then we propose a novel support-vector-mac...A layered architecture of muhisensory integration gripper system is first developed, which includes data acquisition layer, data processing layer and network interface layer. Then we propose a novel support-vector-machine-based data fusion algorithm and also design the gripper system by combining data fusion with CAN bus and CORBA technology, which provides the gripper system with outstanding characteristics such as modularization and intelligence. A multisensory integration gripper test bed is finally built on which a circuit board replacement job based on Internet-based teleoperation is achieved. The experimental results verify the validity of this gripper system design.展开更多
Haptic teleoperation in nuclear and aerospace applications faces challenges such as a limited workspace,high payload demands,and the need for both coarse positioning and fine manipulation.Existing commercial systems o...Haptic teleoperation in nuclear and aerospace applications faces challenges such as a limited workspace,high payload demands,and the need for both coarse positioning and fine manipulation.Existing commercial systems often lack structural consistency between master and slave devices,which leads to complex motion mapping and limited adaptability.This paper presents a modular isomorphic haptic master device and dual-mode control strategy tailored for these environments.Two reconfigurable versions(5-DOF and 6-DOF)were developed to match the task-specific slave arms.The system supports autonomous-to-manual switching,joint and end-effector mapping,and real-time haptic rendering.Simulations and experiments verified their performance in representative scenarios.The proposed solution addresses structural mismatches and control inflexibility through a scalable task-driven design for high-risk remote operations.展开更多
This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However,...This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...展开更多
The worldwide research status of head tracking is introduced and the works made in the research of the predictive algorithm and in the exploration of the rule of the head tracking are set forth. A time delay model f...The worldwide research status of head tracking is introduced and the works made in the research of the predictive algorithm and in the exploration of the rule of the head tracking are set forth. A time delay model for the telerobotic scout system is built. In respect of eliminating error caused by time delay and making reasonable prediction to the data stream, many methods are experimented in order to realize the aim of real time tracking. The application of extrapolation algorithm and auto recursive algorithm in the orientation tracking is described in detail. These two algorithms are realized in Matlab environment. Through analysis of the curves generated by using these two predictive algorithms, an appropriate method was applied in the telerobotic scout system. The effect is satisfying.展开更多
This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping...This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.展开更多
基金supported by the MSIT(Ministry of Science and ICT),Republic of Korea,under the Convergence Security Core Talent Training Business Support Program(IITP-2024-RS-2024-00423071)supervised by the IITP(Institute of Information&Communications Technology Planning&Evaluation)supported by Sichuan Science and Technology Program(2023YFSY0026,2023YFH0004).
文摘Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare domains.This paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current complexity.It elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile devices.In this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of information.The review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough directions.Moreover,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote systems.This underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological bottlenecks.Future research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous environments.With the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.
基金Foundation for U niversity Key Teacher bythe Ministry of Education and National Natural Science Founda-tion of China ( No.69875 0 0 4) and 863 High-Tech Plan ( No.2 0 0 1AA42 3 2 40 )
文摘Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.
基金supported in part by the National Natural Science Foundation of China(61573099,61633003,61750110525,61903192)Fundamental Research Funds for the Central Universities(2242016R30011)+5 种基金Graduate Innovation Program of Jiangsu Province(KYLX15-0114)Scientific Research Foundation of Graduate School of Southeast University(YBJJ1561)Open Project Program of Ministry of EducationKey Laboratory of Measurement and Control of School of Computer Science and Engineering(CSE) MCCSE2017A01,MCCSE2019A01)Chinese Scholarship CouncilNewton Fund by the British Council
文摘This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer(NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic(i.e., contact force tracking)through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed;2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.
基金Supported by National Key Research and Development Program of China(Grant No.2018YFE0125600)Zhejiang Provincial Key Research,Develop-ment Program(Grant No.2021C04015)Natural Science Foundation of Zhejiang(Grant No.LZ23E050005).
文摘Teleoperation can assist people to complete various complex tasks in inaccessible or high-risk environments,in which a wearable hand exoskeleton is one of the key devices.Adequate adaptability would be available to enable the master hand exoskeleton to capture the motion of human fingers and reproduce the contact force between the slave hand and its object.This paper presents a novel finger exoskeleton based on the cascading four-link closed-loop kinematic chain.Each finger has an independent closed-loop kinematic chain,and the angle sensors are used to obtain the finger motion including the flexion/extension and the adduction/abduction.The cable tension is changed by the servo motor to transmit the contact force to the fingers in real time.Based on the finger exoskeleton,an adaptive hand exoskeleton is consequently developed.In addition,the hand exoskeleton is tested in a master-slave system.The experiment results show that the adaptive hand exoskeleton can be worn without any mechanical constraints,and the slave hand can follow the motions of each human finger.The accuracy and the real-time capability of the force reproduction are validated.The proposed adaptive hand exoskeleton can be employed as the master hand to remotely control the humanoid five-fingered dexterous slave hand,thus,enabling the teleoperation system to complete complex dexterous manipulation tasks.
基金supported by the Natural Sciences and Engineering Research Council of Canada(NSERC)
文摘State convergence is a novel control algorithm for bilateral teleoperation of robotic systems. First, it models the teleoperation system on state space and considers all the possible interactions between the master and slave systems. Second, it presents an elegant design procedure which requires a set of equations to be solved in order to compute the control gains of the bilateral loop. These design conditions are obtained by turning the master-slave error into an autonomous system and imposing the desired dynamic behavior of the teleoperation system. Resultantly, the convergence of master and slave states is achieved in a well-defined manner. The present study aims at achieving a similar convergence behavior offered by state convergence controller while reducing the number of variables sent across the communication channel. The proposal suggests transmitting composite master and slave variables instead of full master and slave states while keeping the operator's force channel intact. We show that,with these composite and force variables;it is indeed possible to achieve the convergence of states in a desired way by strictly following the method of state convergence. The proposal leads to a reduced complexity state convergence algorithm which is termed as composite state convergence controller. In order to validate the proposed scheme in the absence and presence of communication time delays, MATLAB simulations and semi-real time experiments are performed on a single degree-of-freedom teleoperation system.
基金supported by Natural Sciences and Engineering Research Council of Canada (NSERC) Research Fellowship,Canada Research Chairs Program and University of Ottawa Research Chair Program
文摘In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is addressed.The design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators.Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators.Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems.The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites.Finally,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.
基金supported in part by the National Science Foundation(NSF)of China(61973263)the National Natural Science Foundation of China Outstanding Youth Fund(62222314)+5 种基金Youth Talent Program of Hebei(BJ2020031,BJ2019047)the Excellent Youth Project for NSF of Hebei Province(F2021203056)the Distinguished Young Foundation of Hebei Province(F2022203001)the Central Guidance Local Foundation of Hebei Province(226Z3201G)the Three-Three-Three Foundation of Hebei Province(C20221019)the Innovation Capability Improvement Plan Project of Hebei Province(22567626H)。
文摘Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects remotely.For the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback information.However,due to hardware technology and cost constraints,the velocity measurements are not always available.In addition,the time-varying communication delay makes it challenging to achieve tracking task.This paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication delays.In order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity observer.For the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be avoided.Meanwhile,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically expressed.With the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking conditions.In particular,the relationship between the controller design parameters and the allowable maximum delay values is provided.Finally,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.
基金National Natural Science Foundation of China (No. 60274023)
文摘A robust controller design method is presented to guarantee the stability and zero tracking error for teleoperation system with time delay. Through choosing appropriate master and slave parameters, extended state equation about master and master-slave error is achieved, which can be analyzed by using time delay knowledge. Thus delay-independent and delay-dependent criteria are derived in terms of the Lyapunov stability theorem, control parameters are obtained by the feasible of linear matrix inequalities. Experimental results show the validity of these approaches and the performance of master and slave manipulators with delay variations is analyzed.
文摘A teleoperation system based on predictive simulation is proposed for the sake of compensating the large time delay in the process of teleoperation to a degree and providing a friendly operating interface. The framework and function architecture of the system is discussed firstly. Then, the operator interface and a graphics simulation system is described in detail. Furthermore, a predictive algorithm aiming at position control based teleoperation is studied in our research, and the relative framework of predictive simulation is discussed. Finally, the system is applied to spacecraft breakdown maintenance; multi-agent reinforcement learning based semi-autonomous teleoperation is discussed at the same time for safe operation.
文摘Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.
基金NSFC-Shenzhen Robotics Research Center Project(No.U2013207)the Beijing Science and Technology Plan Project(No.Z191100008019008)。
文摘Teleoperation is of great importance in the area of robotics,especially when people are unavailable in the robot workshop.It provides a way for people to control robots remotely using human intelligence.In this paper,a robotic teleoperation system for precise robotic manipulation is established.The data glove and the 7-degrees of freedom(DOFs)force feedback controller are used for the remote control interaction.The control system and the monitor system are designed for the remote precise manipulation.The monitor system contains an image acquisition system and a human-machine interaction module,and aims to simulate and detect the robot running state.Besides,a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations.The established robotic teleoperation systemis applied to a series of experiments,and high-precision results are obtained,showing the effectiveness of the physical system.
基金supported by the National Key Research and Development Program of China under Grant No.2023YFB4706902the National Natural Science Foundation of China under Grant Nos.61903030,62273031.
文摘This paper investigates resilient consensus control for teleoperation systems under denial-of-service(DoS)attacks.We design resilient controllers with auxiliary systems based on sampled positions of both master and slave robots,enhancing robustness during DoS attacks.Additionally,we establish stability conditions on DoS attack duration and frequency by applying multivariate small-gain methods to ensure closed-loop stability without the need to solve linear matrix inequalities.Finally,the effectiveness of the controllers is validated through the simulation results,demonstrating that the master-slave synchronization is achieved.
基金partially supported by the Shenzhen Science and Technology Program(grant no.RCYX20200714114736115)Shenzhen Institute of AI and Robotics for Society(grant no.AC01202101112).
文摘Telekinesis,as commonly portrayed in science fiction literature and cinema,is a super power wherein users control and manipulate objects absent in physical interaction.In real world,enhancing human–robot interaction needs the synthesis of human intuitive processes with robotic arm.This paper introduces a robotic teleoperation system achieving the essence of telekinetic operations,combining the profound capabilities of augmented reality(AR)with the robotic arm operations.Utilizing AR,the proposed methodology offers operators with a visual feedback,facilitating a level of control surpassing the capacities of natural interfaces.By using AR-driven visual recognition,this system achieves operations in a virtual environment,subsequently actualized in the real world through the robotic arm.Through multiple experiments,we found that the system has a small margin of error in telekinesis operations,meeting the needs of remote operation.Furthermore,our system can operate on objects in the real world.These experiments underscore the capability of the remote control system to assist humans in accomplishing a wider range of tasks through the integration of AR and robotic arms,providing a natural human–robot interaction approach.
文摘This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. First,an impedance control is designed for the master robot. Second,an adaptive inverse control is proposed for the slave robot. Finally,the slave side controller is modified such that the robust stability and performance are achieved. In addition,robust stability analysis has been performed and optimal behavior is ensured by using standard characteristic polynomials. It is shown that despite of presence of randomly-varying time delay,the proposed control algorithm compensates the position drifts efficiently. Demonstrable simulation studies confirm the effectiveness of the proposed control system and its advantages over the existing sliding mode control strategies.
文摘Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During the teleoperation welding process, 6-DOF controller’s signal can be converted into welding torch’s position, velocity or acceleration changing which is being controlled. For welding purposes, control strategies of four modes are designed, which are static position and posture mode, dynamic position and posture mode, velocity mode and acceleration mode. A test and analysis system for testing the tracking accuracy and reliability of control strategy based on virtual reality is developed. The tracking accuracies of the four control strategies are studied in the following tests with straight line trajectory, curve trajectory or space curve trajectory. The results show that the control strategy in dynamic position and posture mode has best stability and strong adaptability which is the most suitable for the teleoperation system.
文摘A layered architecture of muhisensory integration gripper system is first developed, which includes data acquisition layer, data processing layer and network interface layer. Then we propose a novel support-vector-machine-based data fusion algorithm and also design the gripper system by combining data fusion with CAN bus and CORBA technology, which provides the gripper system with outstanding characteristics such as modularization and intelligence. A multisensory integration gripper test bed is finally built on which a circuit board replacement job based on Internet-based teleoperation is achieved. The experimental results verify the validity of this gripper system design.
基金Supported by National Key Research and Development Program of China(Grant No.2022YFE0112500).
文摘Haptic teleoperation in nuclear and aerospace applications faces challenges such as a limited workspace,high payload demands,and the need for both coarse positioning and fine manipulation.Existing commercial systems often lack structural consistency between master and slave devices,which leads to complex motion mapping and limited adaptability.This paper presents a modular isomorphic haptic master device and dual-mode control strategy tailored for these environments.Two reconfigurable versions(5-DOF and 6-DOF)were developed to match the task-specific slave arms.The system supports autonomous-to-manual switching,joint and end-effector mapping,and real-time haptic rendering.Simulations and experiments verified their performance in representative scenarios.The proposed solution addresses structural mismatches and control inflexibility through a scalable task-driven design for high-risk remote operations.
基金National Natural Science Foundation of China (60675054)National High-Tech Research and Development Program (2006AA04Z228)"111" Project (B07018)
文摘This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine m...
文摘The worldwide research status of head tracking is introduced and the works made in the research of the predictive algorithm and in the exploration of the rule of the head tracking are set forth. A time delay model for the telerobotic scout system is built. In respect of eliminating error caused by time delay and making reasonable prediction to the data stream, many methods are experimented in order to realize the aim of real time tracking. The application of extrapolation algorithm and auto recursive algorithm in the orientation tracking is described in detail. These two algorithms are realized in Matlab environment. Through analysis of the curves generated by using these two predictive algorithms, an appropriate method was applied in the telerobotic scout system. The effect is satisfying.
基金supported by the Open Research Fund of Key Laboratory of Space Utilization,Chinese Academy of Sciences(No.LSU-YKZX-2017-02)
文摘This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.
