Teleoperation

Synchronization of bilateral teleoperators with power based time domain passivity control

Stability is the most important requirement for bilateral teleoperation, and time-varying delays inherent in the communication channel have a strong destabilizing effect. Time invariant passivity based approaches have been proposed to stabilize teleoperation with constant communication delays. However they dissipate energy considering the worst case scenario and result in a significant position drift between master and slave robots.

Project Status: 

Inactive

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Improving transparency in Time-Domain Passivity Approach based Bilateral Teleoperation

Passivity based approaches to bilateral teleoperation control ensure robust stability against disruptive effects of communication delays and achieve velocity tracking, but severely compromise on position tracking and force reflection capability of the telerobotic system. Recently, the Time Domain Passivity Approach (TDPA) has been gaining interest in field of bilateral teleoperation due to its simplicity, ease of implementation, robustness to communication delays, and adaptive control design which promises less conservatism.

Project Status: 

Inactive

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A Lyapunov approach for SOSM based velocity estimation and its application to improve bilateral teleoperation performance

In many mechatronic applications, velocity estimation is required for implementation of closed loop control. Proportional-Integral control based differentiation has been proposed to estimate velocity in bilateral teleoperation. We propose a Second Order Sliding Mode (SOSM) based velocity estimation scheme for this application, since the SOSM approach is robust to small disturbances near the origin. Simulation results demonstrate the superior performance of the SOSM based velocity estimation over the PI-control approach for bilateral teleoperation in viscous environments.

Project Status: 

Inactive

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