Title :
Adaptive control for bilateral teleoperators under time-varying communication delays
Author :
Yen-Chen Liu ; Seng-Ming Puah
Author_Institution :
Dept. of Mech. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
fDate :
May 31 2013-June 2 2013
Abstract :
In this paper, the problem of controlling bilateral teleoperation systems in the presence of time-varying communication delays and dynamic uncertainties is studied. By exchanging only position signals between the master and slave robots, an adaptive controller is proposed to ensure stability if the control gains are contingent to the communication delays. Without exact knowledge of the time-varying delays, the developed control algorithm is able to ensure tracking errors between the master and slave robots to the origin in free motion. Moreover, the closed-loop control system with passive external forces from the human operator and remote environment is also studied. The proposed teleoperation system and control algorithm are validated using numerical simulations on 2-DOF robotic manipulators for both the master and slave robots.
Keywords :
adaptive control; closed loop systems; delays; human-robot interaction; manipulators; multi-robot systems; numerical analysis; signal processing; stability; telerobotics; time-varying systems; tracking; uncertain systems; 2-DOF robotic manipulators; adaptive control; adaptive controller; bilateral teleoperation system control; bilateral teleoperators; closed-loop control system; control gains; dynamic uncertainties; human operator; master robots; numerical simulations; passive external forces; position signals; remote environment; slave robots; time-varying communication delays; tracking errors; Delays; Joints; Robot kinematics; Stability analysis; Time-varying systems; Uncertainty; Bilateral teleoperation; adaptive control; dynamic uncertainties; time-varying delay;
Conference_Titel :
Advanced Robotics and Intelligent Systems (ARIS), 2013 International Conference on
Conference_Location :
Tainan
Print_ISBN :
978-1-4799-0100-5
DOI :
10.1109/ARIS.2013.6573530