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Force reflecting teleoperation with adaptive impedance control.

Lonnie J Love1, Wayne J Book

  • 1Robotics and Process Systems Division, Oak Ridge National Laboratory, Oak Ridge, TN 37831-6304, USA.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|September 17, 2004
PubMed
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This study introduces a novel force reflecting teleoperation method. It reduces operator energy demands by adapting the master robot's impedance to the real-time environment model, ensuring stability.

Area of Science:

  • Robotics
  • Human-Computer Interaction
  • Control Systems

Background:

  • Force reflecting teleoperation systems require high master robot damping for contact stability.
  • Excessive damping in teleoperation systems increases operator energy expenditure.
  • Existing methods often face a trade-off between stability and energy efficiency.

Purpose of the Study:

  • To present a new force reflecting teleoperation methodology.
  • To reduce operator energy requirements without compromising system stability.
  • To develop a method for real-time environment modeling and impedance adaptation.

Main Methods:

  • Combined multi-input, multi-output recursive least squares (MIMO-RLS) system identification for real-time remote environment impedance estimation.

Related Experiment Videos

  • Discretized representation of the remote environment to create a time-varying, position-dependent dynamic model.
  • Simultaneous, real-time adaptation of the master robot's target impedance based on the estimated remote environment dynamics.

    • Main Results:

    • Significantly reduced operator energy consumption during remote tasks.
    • Maintained sufficient damping to ensure stable contact.
    • Demonstrated the effectiveness of the proposed methodology through experimentation.

    Conclusions:

    • The novel teleoperation approach effectively balances contact stability and operator energy efficiency.
    • Real-time environment modeling and adaptive impedance control are key to optimizing teleoperation performance.
    • This methodology offers a promising solution for energy-aware and stable force reflecting teleoperation systems.