Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach

This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops. We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with r...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2011, 25(8), , pp.2089-2100
Main Authors: Seo, Changhoon, Kim, Jong-Phil, Kim, Jaeha, Ahn, Hyo-Sung, Ryu, Jeha
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Computer systems and distributed systems. User interface
Contact
Control
Control system analysis
Control theory. Systems
Devices
Dynamical Systems
Energy consumption
Engineering
Exact sciences and technology
Haptics
Industrial and Production Engineering
Mechanical Engineering
Robotics
Robots
Software
Stability
Time delay
Ultrasonic testing
Vibration
기계공학
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Summary:This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops. We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with remote environments by using an analogy between haptic interaction and teleoperation controls. Robust stability is achieved by both restricting the extra energy that is generated by the sample-and-hold to within the consumable energy in the master device or slave robot and passifying the communication network. Theoretical analyses of transparency are performed for both position and force tracking aspects. Comprehensive test results for various free and contact motions subsequently show that the proposed bilateral EBA can ensure robust stability against fairy large constant/variable round trip time delays (tested for up to 5 sec for free motion and 600 msec for contact motion within the device workspace) as well as for packet losses of up to 90 % during data transmission.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-011-0523-8