Improved bilateral teleoperation with proactive haptic sensing and transmission
Kuzu, Ahmet and Baran, Eray A. and Bogosyan, Seta and Gökaşan, Metin and Şabanoviç, Asif (2018) Improved bilateral teleoperation with proactive haptic sensing and transmission. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 232 (1). pp. 79-91. ISSN 0959-6518 (Print) 2041-3041 (Online)
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Official URL: http://dx.doi.org/10.1177/0959651817735777
This article presents a novel master-slave control configuration that is experimentally demonstrated to improve teleoperation performance under random network delay. This is achieved via the design of a proactive haptic sensing system based on a laser range sensor on the slave side, which in turn allows for the proactive transmission of force control from the master to the slave, thus compensating for Internet-based network delays. The proposed configuration introduces three main contributions to the literature of bilateral control systems: (1) fully decoupled position and force control systems, which allow for the controller gains of each loop to be tuned independently, eliminating the trade-off common to most previous literature; (2) a novel approach that exploits the slow variation nature of the environment parameters, resulting in a lower bandwidth requirement in comparison to previous force control methods; (3) capability to measure the slave environment location and the prediction of the contact force as a result, which provides the human operator with the capability to generate the reaction force proactively on the master side. The conducted experiments demonstrated a significantly improved performance in terms of synchronized forces and positions despite the random network delay between the master and slave systems.
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