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Zaman Gecikmeleri Altında İki-Yönlü Teleoperasyonda Üç Kanallı Kontrol Mimarilerinin L2 Kararlılığı ve Şeffaflığı Üzerine Bir Çalışma

Year 2021, , 455 - 466, 01.09.2021
https://doi.org/10.7240/jeps.887979

Abstract

Çift yönlü/haptik teleoperasyon; bir "takipçi" robotun bir "yönlendirici" robot, veyahut arayüz, aracılığıyla operatör tarafından uzaktan kumandasını ve takipçi robotun etkileşim kuvvetlerinin operatöre geri beslenmesini kapsar. Böylece operatör, takipçi robotu kendi uzuvlarının bir uzantısı gibi kullanabilir. Robotlar arasındaki iletişimde yaşanan gecikmeler, çift taraflı teleoperasyonda bilinen en eski problemlerdendir. Operatöre kuvvet geri beslemesinin olması haptik/çift yönlü teleoperasyon sistemlerinin gecikmelere karşı daha kararsız/dayanıksız olmasına sebebiyet vermektedir. Üç kanal mimarileri, literatürde, gecikmelere karşı daha dayanıklı ve yüksek transparanlığa (kinestetik bağa) izin veren mimariler olarak ortaya çıkmışlardır. Bu makalede, üç kanal mimarilerinde, bu mimarilerin hem transparanlığından faydalanmayı amaçlayan hem de gecikmeden bağımsız L2 kararlılığını garantileyen değişiklikler yapılması önerilmektedir. Önerilen yaklaşımın geçerliliği hem analitik hem de deneysel yöntemlerle bir çift yönlü teleoperasyon sisteminde incelenmiş, ve doğrulanmıştır.

References

  • [1] Anderson, R. J., & Spong, M. W. (1988, August). Bilateral control of teleoperators with time delay. In Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics (Vol. 1, pp. 131-138). IEEE.
  • [2] Niemeyer, G., & Slotine, J. J. (1997, April). Using wave variables for system analysis and robot control. In Proceedings of International Conference on Robotics and Automation (Vol. 2, pp. 1619-1625). IEEE.
  • [3] Ryu, J. H., Kwon, D. S., & Hannaford, B. (2004). Stable teleoperation with time-domain passivity control. IEEE Transactions on robotics and automation, 20(2), 365-373.
  • [4] Nuño, E., Basañez, L., & Ortega, R. (2011). Passivity-based control for bilateral teleoperation: A tutorial. Automatica, 47(3), 485-495
  • [5] Lee, D., & Spong, M. W. (2006). Passive bilateral teleoperation with constant time delay. IEEE transactions on robotics, 22(2), 269-281.
  • [6] Hannaford, B. (1989). A design framework for teleoperators with kinesthetic feedback. IEEE transactions on Robotics and Automation, 5(4), 426-434.
  • [7] Lawrence, D. A. (1993). Stability and transparency in bilateral teleoperation. IEEE transactions on robotics and automation, 9(5), 624-637
  • [8] Yokokohji, Y., & Yoshikawa, T. (1994). Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment. IEEE transactions on robotics and automation, 10(5), 605-620.
  • [9] Hastrudi-Zaad, K., & Salcudean, S. E. (1999, May). On the use of local force feedback for transparent teleoperation. In Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No. 99CH36288C) (Vol. 3, pp. 1863-1869). IEEE.
  • [10] Hashtrudi-Zaad, K., & Salcudean, S. E. (2002). Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation. IEEE Transactions on Robotics and Automation, 18(1), 108-114.
  • [11] Kubo, R., Iiyama, N., Natori, K., Ohnishi, K., & Furukawa, H. (2007). Performance analysis of a three-channel control architecture for bilateral teleoperation with time delay. IEEJ Transactions on Industry Applications, 127(12), 1224-1230.
  • [12] Tumerdem, U. (2019). Three-channel control architecture for multilateral teleoperation under time delay. Turkish Journal of Electrical Engineering & Computer Sciences, 27(1), 120-138.
  • [13] Albakri, A., Liu, C., & Poignet, P. (2013, November). Stability and performance analysis of three-channel teleoperation control architectures for medical applications.In IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 456-462). IEEE.
  • [14] Tumerdem, U., & Ohnishi, K. (2009, April). Robust four channel teleoperation under time delay by damping injection. In 2009 IEEE International Conference on Mechatronics (pp. 1-6). IEEE.
  • [15] Tumerdem, U., & Ohnishi, K. (2010). Delay-Independent L2 Stability of Four-Channel Bilateral Teleoperators with Damping Injection. IEEJ Transactions on Industry Applications, 130(8), 953-964.
  • [16] Naerum, E., & Hannaford, B. (2009, May). Global transparency analysis of the lawrence teleoperator architecture. In 2009 IEEE International Conference on Robotics and Automation (pp. 4344-4349). IEEE.
  • [17] Van der Schaft, A. J., & Van Der Schaft, A. J. (2000). L2-gain and passivity techniques in nonlinear control (Vol. 2). London: Springer.
  • [18] Hashtrudi-Zaad, K., & Salcudean, S. E. (2000, April). Analysis and evaluation of stability and performance robustness for teleoperation control architectures. In Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065) (Vol. 4, pp. 3107-3113). IEEE.
  • [19] Iida, W., & Ohnishi, K. (2004, March). Reproducibility and operationality in bilateral teleoperation. In The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC'04. (pp. 217-222). IEEE.
  • [20] Murakami, T., Yu, F., & Ohnishi, K. (1993). Torque sensorless control in multidegree-of-freedom manipulator. IEEE Transactions on Industrial Electronics, 40(2), 259-265..
  • [21] Kuchenbecker, K. J., Fiene, J., & Niemeyer, G. (2006). Improving contact realism through event-based haptic feedback. IEEE transactions on visualization and computer graphics, 12(2), 219-230.

A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays

Year 2021, , 455 - 466, 01.09.2021
https://doi.org/10.7240/jeps.887979

Abstract

Bilateral/haptic teleoperation is the remote control of a "slave" robotic system through a "master" robot or haptic interface, and involves the feedback of the slave interaction forces to the operator. Thus, the master operator can operate the slave as an extension of his/her body. Time delay among the robots is a long-standing problem in bilateral teleoperation. The existence of force feedback to the operator in haptic/bilateral teleoperation makes the teleoperation system less robust to time delays on the communication channels. Three channel architectures have been proposed in the literature to provide increased robustness against time delays with increased transparency (kinesthetic coupling). In this paper, we propose modifications on three channel architectures to guarantee delay independent L2 stability, while exploiting the increased transparency characteristics of these architectures. The validity of the proposed approach is examined both analytically and experimentally on a bilateral teleopearation system.

References

  • [1] Anderson, R. J., & Spong, M. W. (1988, August). Bilateral control of teleoperators with time delay. In Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics (Vol. 1, pp. 131-138). IEEE.
  • [2] Niemeyer, G., & Slotine, J. J. (1997, April). Using wave variables for system analysis and robot control. In Proceedings of International Conference on Robotics and Automation (Vol. 2, pp. 1619-1625). IEEE.
  • [3] Ryu, J. H., Kwon, D. S., & Hannaford, B. (2004). Stable teleoperation with time-domain passivity control. IEEE Transactions on robotics and automation, 20(2), 365-373.
  • [4] Nuño, E., Basañez, L., & Ortega, R. (2011). Passivity-based control for bilateral teleoperation: A tutorial. Automatica, 47(3), 485-495
  • [5] Lee, D., & Spong, M. W. (2006). Passive bilateral teleoperation with constant time delay. IEEE transactions on robotics, 22(2), 269-281.
  • [6] Hannaford, B. (1989). A design framework for teleoperators with kinesthetic feedback. IEEE transactions on Robotics and Automation, 5(4), 426-434.
  • [7] Lawrence, D. A. (1993). Stability and transparency in bilateral teleoperation. IEEE transactions on robotics and automation, 9(5), 624-637
  • [8] Yokokohji, Y., & Yoshikawa, T. (1994). Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment. IEEE transactions on robotics and automation, 10(5), 605-620.
  • [9] Hastrudi-Zaad, K., & Salcudean, S. E. (1999, May). On the use of local force feedback for transparent teleoperation. In Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No. 99CH36288C) (Vol. 3, pp. 1863-1869). IEEE.
  • [10] Hashtrudi-Zaad, K., & Salcudean, S. E. (2002). Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation. IEEE Transactions on Robotics and Automation, 18(1), 108-114.
  • [11] Kubo, R., Iiyama, N., Natori, K., Ohnishi, K., & Furukawa, H. (2007). Performance analysis of a three-channel control architecture for bilateral teleoperation with time delay. IEEJ Transactions on Industry Applications, 127(12), 1224-1230.
  • [12] Tumerdem, U. (2019). Three-channel control architecture for multilateral teleoperation under time delay. Turkish Journal of Electrical Engineering & Computer Sciences, 27(1), 120-138.
  • [13] Albakri, A., Liu, C., & Poignet, P. (2013, November). Stability and performance analysis of three-channel teleoperation control architectures for medical applications.In IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 456-462). IEEE.
  • [14] Tumerdem, U., & Ohnishi, K. (2009, April). Robust four channel teleoperation under time delay by damping injection. In 2009 IEEE International Conference on Mechatronics (pp. 1-6). IEEE.
  • [15] Tumerdem, U., & Ohnishi, K. (2010). Delay-Independent L2 Stability of Four-Channel Bilateral Teleoperators with Damping Injection. IEEJ Transactions on Industry Applications, 130(8), 953-964.
  • [16] Naerum, E., & Hannaford, B. (2009, May). Global transparency analysis of the lawrence teleoperator architecture. In 2009 IEEE International Conference on Robotics and Automation (pp. 4344-4349). IEEE.
  • [17] Van der Schaft, A. J., & Van Der Schaft, A. J. (2000). L2-gain and passivity techniques in nonlinear control (Vol. 2). London: Springer.
  • [18] Hashtrudi-Zaad, K., & Salcudean, S. E. (2000, April). Analysis and evaluation of stability and performance robustness for teleoperation control architectures. In Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065) (Vol. 4, pp. 3107-3113). IEEE.
  • [19] Iida, W., & Ohnishi, K. (2004, March). Reproducibility and operationality in bilateral teleoperation. In The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC'04. (pp. 217-222). IEEE.
  • [20] Murakami, T., Yu, F., & Ohnishi, K. (1993). Torque sensorless control in multidegree-of-freedom manipulator. IEEE Transactions on Industrial Electronics, 40(2), 259-265..
  • [21] Kuchenbecker, K. J., Fiene, J., & Niemeyer, G. (2006). Improving contact realism through event-based haptic feedback. IEEE transactions on visualization and computer graphics, 12(2), 219-230.
There are 21 citations in total.

Details

Primary Language English
Subjects Engineering
Journal Section Research Articles
Authors

Uğur Tümerdem 0000-0002-5322-2366

Publication Date September 1, 2021
Published in Issue Year 2021

Cite

APA Tümerdem, U. (2021). A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays. International Journal of Advances in Engineering and Pure Sciences, 33(3), 455-466. https://doi.org/10.7240/jeps.887979
AMA Tümerdem U. A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays. JEPS. September 2021;33(3):455-466. doi:10.7240/jeps.887979
Chicago Tümerdem, Uğur. “A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays”. International Journal of Advances in Engineering and Pure Sciences 33, no. 3 (September 2021): 455-66. https://doi.org/10.7240/jeps.887979.
EndNote Tümerdem U (September 1, 2021) A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays. International Journal of Advances in Engineering and Pure Sciences 33 3 455–466.
IEEE U. Tümerdem, “A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays”, JEPS, vol. 33, no. 3, pp. 455–466, 2021, doi: 10.7240/jeps.887979.
ISNAD Tümerdem, Uğur. “A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays”. International Journal of Advances in Engineering and Pure Sciences 33/3 (September 2021), 455-466. https://doi.org/10.7240/jeps.887979.
JAMA Tümerdem U. A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays. JEPS. 2021;33:455–466.
MLA Tümerdem, Uğur. “A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays”. International Journal of Advances in Engineering and Pure Sciences, vol. 33, no. 3, 2021, pp. 455-66, doi:10.7240/jeps.887979.
Vancouver Tümerdem U. A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays. JEPS. 2021;33(3):455-66.