Abstract
This study designs a high-precision bilateral teleoperation control for a dissimilar master–slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of individual (decentralized) model-based controllers for the manipulators locally at the subsystem level. Very importantly, a dynamic model of the human operator is incorporated into the control of the master manipulator. The individual controllers for the dissimilar master and slave manipulators are connected in a specific communication channel for the bilateral teleoperation to function. Stability of the overall control design is rigorously guaranteed with arbitrary time delays. Novel features of this study include the completely force-sensor-less design for the teleoperation system with a solution for a uniquely introduced computational algebraic loop, a method of estimating the exogenous operating force of an operator and the use of a commercial haptic manipulator. Most importantly, we conduct experiments on a dissimilar system in two degrees of freedom (DOFs). As an illustration of the performance of the proposed system, a force scaling factor of up to 800 and position scaling factor of up to 4 was used in the experiments. The experimental results show an exceptional tracking performance, verifying the real-world performance of the proposed concept.
Highlights
B ILATERALLY teleoperated robotic systems can bring the perception and precision of direct manipulation into challenging and risk-intensive tasks in environments that may be hazardous or hostile for humans
One of the most interesting applications for teleoperation lies in learning from demonstrations (LfD) applications with heavy-duty manipulators
The individual controllers for the dissimilar master and slave manipulators are connected in a specific communication channel for the bilateral teleoperation to function
Summary
B ILATERALLY teleoperated robotic systems can bring the perception and precision of direct manipulation into challenging and risk-intensive tasks in environments that may be hazardous or hostile for humans. The key enabler for LfD applications with heavy-duty manipulators is teleoperation of asymmetric systems with motion and force scaling. Time delay (a focused research topic, especially in the teleoperation of extraterrestrial systems [13]) can be alternatively addressed for terrestrial applications in the advent of 5G cellular networks with ultralow latencies [14]. The existing methods for teleoperation of hydraulic manipulators have mainly relied on linear control theory and system linearization [8]–[10], [21] These methods have limitations in teleoperation of complex, highly nonlinear, and asymmetric systems. Transparency was not considered in this study Another recent approach for teleoperation of symmetric systems with varying time-delay was proposed in [19], where independent controllers were designed for both manipulators. The study demonstrated good transparency performance in constrained motion despite varying time delay, but lacked the ability to maintain transparency during transitions from free space motion to contact control
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