Control Of Teleoperation Systems Research Articles

H∞-Based impedance control of teleoperation systems with time delay

Impedance control is used to adjust the dynamic relationship between the position of a manipulator and the applied forces when it interacts with the environment. In bilateral teleoperation systems, communication time delay may destabilize the closed-loop system and certainly degrade the operator’s intuition and performance. In this paper, a new scheme for impedance control of bilateral teleoperation systems in the presence of communication time delay is proposed. Local controller for master manipulator is firstly designed in order to get a specified master impedance. Then, a global controller is designed based on H∞ framework such that the global system, including communication time delay, is stable and the desired impedance characteristic of the slave manipulator is achieved asymptotically.

Scaled teleoperation system for nano-scale interaction and manipulation

In this paper, a visual and haptic human–machine interface is proposed for teleoperated nano-scale object interaction and manipulation. Design specifications for a bilateral scaled tele-operation system with slave and master robots, sensors, actuators and control are discussed. The Phantom™ haptic device is utilized as the master manipulator, and a piezoresistive atomic force microscope probe is selected as the slave manipulator and as topography and force sensors. Using the teleoperation control system, initial experiments are realized for interacting with nano-scale surfaces. It is shown that fine structures can be felt on the operator's finger successfully, and improved nano-scale interaction and manipulation using visual and haptic feedback can be achieved.

The Application of Telematics in the Canadian Landmine Detection Capability

Starting in 1990, the Defence Research Establishment Suffield began to investigate combining key landmine detection capabilities with robotics technologies to effect a landmine detection system which would remove soldiers from the danger and tedium of landmine detection. The resulting solution was a tele-operated (strict master/slave) robotic vehicle combined with a multi-sensor detection array of sensors specifically chosen for their ability to detect the properties of low metal content and non-metallic anti-tank landmines on roads and tracks. The focus of this paper is to 1) describe how telematics have been applied in this tele-operated landmine detection system, 2) provide a functional description of the robotic tele-operation control system and 3) speculate on the addition of complementary control technologies to make such systems more autonomous.

Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor

In this paper, a tele-nanorobotic system using an atomic force microscope (AFM) as the nanorobot and sensor has been proposed. Modeling and control of the AFM cantilever, and modeling of nanometer scale forces have been realized for telemanipulation applications. In addition to three-dimensional virtual reality visual feedback in the user interface, a 1 d.o.f. haptic device has been constructed for nano-scale haptic sensing. For feeling the nano forces, a bilateral teleoperation control system with virtual impedance approach has been introduced. Initial experiments and simulations on the AFM and teleoperation system show that the system can be utilized for different telenanomanipulation applications such as two-dimensional nano particle assembly or biological object manipulation.

Modeling, design, and evaluation of advanced teleoperator control systems with short time delay

A real-time teleoperator control system designed to achieve desired performance and robustness under shared compliance control and short time delays of up to a few seconds is evaluated. In the design, telemonitoring force feedback is introduced as a new form of kinesthetic coupling; dynamic characteristics of the master and slave arms are actively modified based on generalized impedance control according to local design criteria; the human dynamics involved in generating a control command based on visual and force stimuli are incorporated into the controller design; and to balance the robustness/performance trade-off, system performance is optimized subject to a known maximum time delay. Simulation results suggest that the system is superior to conventional systems in terms of performance and robustness under short time delays and human control errors. Experimental evidence is presented to supports the advantages of the proposed telemonitoring force feedback. An experimental method for further validating the human dynamic model is described. >