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Significance Statement
Guaranteeing stability and simultaneously enhancing the system transparency in the presence of time delay in the communication channel is still a challenging issue for teleoperation system with force feedback. A novel adaptive model-based passivity approach for achieving stable force perception over a teleoperation system with time delay is advanced. It has been known that the knowledge of the robot’s environment can improve the performance of the teleoepration system. A method of modeling and identifying the impedance of the remote environment is described. This virtual model is used to duplicate the performance of the real environment at the slave side. A recursive environment parameter estimation approach is utilized to resolve the potential problem introduced by virtual environment modeling errors. A passivity observer is built on the local master side to calculate the system energy using the virtual contact forces from the environment model. And the feedback force to the operator is selected based on the actual value of the system passivity. As a result, such a local feedback force is not subject to the delays in the communication lines and the stable position and force performances are achieved.
Simulation results demonstrate the validity of the proposed method. The developed method has also been experimentally evaluated using a pair of 1-DOF master slave system. The proposed approach has its own contribution on that it can guarantee the passivity of a teleoperation system under communication delay.
Journal Reference
Robotics and Computer-Integrated Manufacturing, Volume 37, 2016, Pages 188–196.
Hongbing Li, Kenji Kawashima
Department of Instrument Science and Engineering, Shanghai Jiaotong University, Shanghai200240, China
Abstract
Time delay is a long standing impediment of bilateral control and can destabilize the system evidently. This paper presents a mode-based approach to alleviate some of the problems associated with time delays in a master–slave robot system. The originality of the approach proposed mainly lies in its capacity to take into account explicitly the slave force feedback modified according to the output of Passivity Observer (PO). This method consists of a virtual slave environment model together with a PO to calculate the system energy on the master side. The local environment model is built by the parameters that are identified online at the slave side. Simulation results show the superior performance of the proposed control scheme in the presence of time delays. Experimental results, using a 1-DOF master–slave teleoperation system, support this conclusion.
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