TY - JOUR
T1 - Stable Bilateral Teleoperation with Bounded Control
AU - Deka, Shankar A.
AU - Stipanović, Dušan M.
AU - Kesavadas, Thenkurussi
N1 - Funding Information:
Manuscript received June 8, 2018; accepted September 9, 2018. Date of publication October 22, 2018; date of current version October 9, 2019. Manuscript received in final form September 17, 2018. This work was supported in part by the National Science Foundation under Award CNS 13-14891 and Award CNS 15-45069 and in part by the JUMP-Applied Research for Community Health through Engineering and Simulation Program for addressing safety and reliability of surgical robots. Recommended by Associate Editor N. van de Wouw. (Corresponding author: Shankar A. Deka.) S. A. Deka is with the Mechanical Engineering Department, University of Illinois at Urbana–Champaign, Urbana, IL 61801 USA (e-mail: sadeka2@illinois.edu).
Publisher Copyright:
© 1993-2012 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - This paper studies a problem of bilateral teleoperation in the presence of asymmetric communication delays, in the case when there is a controller saturation constraint on both the local and remote manipulators. Stability under time delays has been a key challenge in the control of a teleoperation system, and several controllers, mostly based on the concept of passivity, have been proposed over the past two decades. The recently proposed controllers with damping injection improve tracking performance in addition to guaranteeing stability, due to explicit position information in the controller. These results are extended in the case of manipulators that can only produce bounded joint torques for coordination and force reflection. Sufficient conditions for guaranteeing stability and tracking are provided under such a controller restriction. The proposed scheme is validated by experiments on two three degrees of freedom manipulators.
AB - This paper studies a problem of bilateral teleoperation in the presence of asymmetric communication delays, in the case when there is a controller saturation constraint on both the local and remote manipulators. Stability under time delays has been a key challenge in the control of a teleoperation system, and several controllers, mostly based on the concept of passivity, have been proposed over the past two decades. The recently proposed controllers with damping injection improve tracking performance in addition to guaranteeing stability, due to explicit position information in the controller. These results are extended in the case of manipulators that can only produce bounded joint torques for coordination and force reflection. Sufficient conditions for guaranteeing stability and tracking are provided under such a controller restriction. The proposed scheme is validated by experiments on two three degrees of freedom manipulators.
KW - Bilateral teleoperation
KW - bounded control
KW - varying time delays
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U2 - 10.1109/TCST.2018.2871874
DO - 10.1109/TCST.2018.2871874
M3 - Article
AN - SCOPUS:85055173466
SN - 1063-6536
VL - 27
SP - 2351
EP - 2360
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 6
M1 - 8501937
ER -