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

Year 2021, Volume: 33 Issue: 3, 455 - 466, 01.09.2021

Uğur Tümerdem

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.

Keywords

Robotik, haptik, teleoperasyon, kuvvet kontrolü, kararlılık

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

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.

Keywords

Robotics, Haptics, Teleoperation, Force Control, Stability

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