DocumentCode :
627698
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
fYear :
2013
fDate :
May 31 2013-June 2 2013
Firstpage :
32
Lastpage :
37
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Robotics and Intelligent Systems (ARIS), 2013 International Conference on
Conference_Location :
Tainan
Print_ISBN :
978-1-4799-0100-5
Type :
conf
DOI :
10.1109/ARIS.2013.6573530
Filename :
6573530
Link To Document :
بازگشت