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Related Experiment Video

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Real-Time Proxy-Control of Re-Parameterized Peripheral Signals using a Close-Loop Interface

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Passivity-based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable

Hsin-Chen Hu¹, Yen-Chen Liu¹

¹Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan.

ISA Transactions

|August 8, 2017

Summary

This study introduces a new task-space control framework for bilateral teleoperation, ensuring stability and accurate position tracking despite uncertainties and communication issues like packet loss. The Passivity-Based Packet Modulation (PBPM) method enhances reliability over networks.

Keywords:

Parametric uncertainty Passive-based packet modulation (PBPM)Task-space teleoperator Time delay

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Area of Science:

Robotics
Control Systems Engineering
Networked Systems

Background:

Bilateral teleoperation systems often face limitations due to parameter uncertainties and unreliable communication, restricting their practical use.
Existing joint-space or task-space approaches may not adequately address kinematic/dynamic uncertainties, time delays, and packet losses.

Purpose of the Study:

To develop a novel task-space control framework for bilateral teleoperation that ensures stability and improves tracking performance.
To address challenges posed by kinematic/dynamic uncertainties and unreliable communication, including time delays and packet losses.

Main Methods:

A new task-space control framework is proposed for bilateral teleoperation systems.
Passivity-Based Packet Modulation (PBPM) is introduced, utilizing scattering variable transformation to handle data losses over unreliable networks.
The control algorithms are designed to guarantee stability and position tracking under parametric uncertainties and communication delays.

Main Results:

The proposed control algorithms ensure the stability of the teleoperation system.
Position tracking is guaranteed even when the system experiences parametric uncertainties and communication delays.
Numerical simulations and experimental results validate the effectiveness of the developed control framework.

Conclusions:

The novel task-space control framework significantly enhances the stability and applicability of bilateral teleoperation systems.
The Passivity-Based Packet Modulation (PBPM) effectively mitigates issues arising from data loss in networked environments.
The study demonstrates a robust solution for reliable bilateral teleoperation in the presence of uncertainties and communication impairments.