Abstract
A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.
Highlights
Teleoperation through which a human operator can manipulate a remote environment expands human’s sensing and decision making with potential applications in various fields such as space exploration, undersea discoveries, and minimally invasive surgery [1,2,3]
A conventional bilateral teleoperation system which consists of a pair of robots allows sensed and command signals flow in two directions between the operator and the environment: the command signals are transmitted from the master to control the slave and the contact force information is simultaneously fed back in the opposite direction in order to provide human operator the realistic experience
System stability is quite sensitive to time delays and even a small time delay may destabilize the overall system
Summary
Teleoperation through which a human operator can manipulate a remote environment expands human’s sensing and decision making with potential applications in various fields such as space exploration, undersea discoveries, and minimally invasive surgery [1,2,3]. A SMMS system is suitable for many applications where (1) a single slave robot cannot perform the required level of manipulation dexterity, mechanical strength, robustness to single point failure, and safety (e.g., distributed kinetic energy) and (2) the remote task necessarily requires the human operator’s experience, intelligence, and sensory input, but it is not desired or even impossible to send humans on site One example of such applications is the cooperative construction/maintenance of space structures (e.g., international space station, Hubble telescope) [29]. A novel modified wave-variable-based control algorithm is designed to guarantee accurate position synchronization and force reflection of all the robots in the nonlinear SMMS teleoperation system in the presence of large time-varying delays. The theoretical work presented here is supported by experimental results based on a 3-DOF trilateral teleoperation system consisting of three different haptic devices
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