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Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system

Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operatio...

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Main Authors: Amini, H., Rezaei, S.M., Sarhan, A.A.D., Akbari, J., Mardi, N.A.
Format: Article
Published: Journal of Dynamic Systems Measurement and Control-Transactions of the Asme 2015
Subjects:
T Technology (General)
TJ Mechanical engineering and machinery
Online Access:http://eprints.um.edu.my/13759/
http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=1936140
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spelling my.um.eprints.137592015-07-23T00:42:30Z http://eprints.um.edu.my/13759/ Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system Amini, H. Rezaei, S.M. Sarhan, A.A.D. Akbari, J. Mardi, N.A. T Technology (General) TJ Mechanical engineering and machinery Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operation, task performance should be accurately considered. The presence of force signals in the control scheme could effectively improve transparency. However, the main restriction is force measurement in micromanipulation scales. A new modified strategy for estimating the external forces acting on the master and slave robots is the major contribution of this paper. The main advantage of this strategy is that the necessity for force sensors is eliminated, leading to lower cost and further applicability. A novel control algorithm with estimated force signals is proposed for a general nonlinear macro-micro bilateral teleoperation system with time delay. The stability condition in the macro-micro teleoperation system with the new control algorithm is verified by means of Lyapunov stability analysis. The designed control algorithm guarantees stability of the macro-micro teleoperation system in the presence of an estimated operator and environmental force. Experimental results confirm the efficiency of the novel control algorithm in position tracking and force reflection. Journal of Dynamic Systems Measurement and Control-Transactions of the Asme 2015-05 Article PeerReviewed Amini, H. and Rezaei, S.M. and Sarhan, A.A.D. and Akbari, J. and Mardi, N.A. (2015) Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system. Journal of Dynamic Systems Measurement and Control-Transactions of the Asme, 137 (5). p. 15. ISSN 0022-0434 http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=1936140 Doi 10.1115/1.4029077
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Research Repository
url_provider http://eprints.um.edu.my/
topic T Technology (General)
TJ Mechanical engineering and machinery
spellingShingle T Technology (General)
TJ Mechanical engineering and machinery
Amini, H.
Rezaei, S.M.
Sarhan, A.A.D.
Akbari, J.
Mardi, N.A.
Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system
description Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operation, task performance should be accurately considered. The presence of force signals in the control scheme could effectively improve transparency. However, the main restriction is force measurement in micromanipulation scales. A new modified strategy for estimating the external forces acting on the master and slave robots is the major contribution of this paper. The main advantage of this strategy is that the necessity for force sensors is eliminated, leading to lower cost and further applicability. A novel control algorithm with estimated force signals is proposed for a general nonlinear macro-micro bilateral teleoperation system with time delay. The stability condition in the macro-micro teleoperation system with the new control algorithm is verified by means of Lyapunov stability analysis. The designed control algorithm guarantees stability of the macro-micro teleoperation system in the presence of an estimated operator and environmental force. Experimental results confirm the efficiency of the novel control algorithm in position tracking and force reflection.
format Article
author Amini, H.
Rezaei, S.M.
Sarhan, A.A.D.
Akbari, J.
Mardi, N.A.
author_facet Amini, H.
Rezaei, S.M.
Sarhan, A.A.D.
Akbari, J.
Mardi, N.A.
author_sort Amini, H.
title Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system
title_short Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system
title_full Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system
title_fullStr Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system
title_full_unstemmed Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system
title_sort transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system
publisher Journal of Dynamic Systems Measurement and Control-Transactions of the Asme
publishDate 2015
url http://eprints.um.edu.my/13759/
http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=1936140
_version_ 1643689641743745024
score 13.211869

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