BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS

Stefan Lichiardopol, Nathan van de Wouw, Henk Nijmeijer

Abstract

It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is based on a cyclic switching algorithm. In the first phase of the cyclic algorithm, we estimate the environmental force and in the second phase a tracking controller ensures that the position of the slave robot is tracking the position of the master robot. A stability analysis of the overall closed-loop system is presented and the approach is illustrated by means of an example.

References

  1. Alcocer, A., Robertsson, A., Valera, A., and Johansson, R. (2003). Force estimation and control in robot manipulators. Proceedings of the 7th Symposium on Robot Control (SYROCO'03), pages 31-36.
  2. Chen, X., Komada, S., and Fukuda, T. (2000). Design of a nonlinear disturbance observer. IEEE Transactions on Industrial Electronics, 47:429-436.
  3. Eom, K. S., Suh, I. H., and Chung, W. K. (2000). Disturbance observer based path tracking of robot manipulator considering torque saturation. Mechatronics, 11:325-343.
  4. Eom, K. S., Suh, I. H., Chung, W. K., and Oh, S. R. (1998). Disturbance observer based force control of robot manipulator without force sensor. Proceedings of IEEE International Conference on Robotics and Automation, pages 3012-3017.
  5. Fujiyama, K., Katayama, R., Hamaguchi, T., and Kawakami, K. (2000). Digital controller design for recordable optical disk player using disturbance observer. Proceedings of the International Workshop on Advanced Motion Control, pages 141-146.
  6. Garcia, J. G., Robertsson, A., Ortega, J. G., and Johansson, R. (2008). Sensor fusion for compliant robot motion control. IEEE Transations on Robotics, 24:430-441.
  7. Gielen, R., Olaru, S., and Lazar, M. (2008). On polytopic approximations as a modelling framework for networked control systems. Proceedings of the International Workshop on Assesment and Future Direction of NMPC, Pavia, Italy.
  8. Güvenc, B. A. and Güvenc, L. (2001). Robustness of disturbance observers in the presence of structured real parametric uncertainty. Proceedings of the American Control Conference, pages 4222-4227.
  9. Hokayem, P. F. and Spong, M. W. (2006). Bilateral teleoperation: A historical survey. Automatica, 42:2035- 2057.
  10. Iwasaki, M., Shibata, T., and Matsui, N. (1999). Disturbance-observer-based nonlinear friction compensation in table drive system. IEEE Transactions on Mechatronics, 4:3-8.
  11. Jiang, Z. P., Mareels, I. M. Y., and Wang, Y. (1996). A Lyapunov formulation of the nonlinear small-gain theorem for interconnected ISS systems. Automatica, 32:1211-1215.
  12. Jiang, Z. P. and Wang, Y. (2001). Input-to-state stability for discrete-time nonlinear systems. Automatica, 37:857- 869.
  13. Kempf, C. J. and Kobayashi, S. (1999). Disturbance observer and feedforward design for high-speed directdrive position table. IEEE Transactions on Control System Technology, 7:513-526.
  14. Komada, S., Machii, N., and Hori, T. (2000). Control of redundant manipulators considering order of disturbance observer. IEEE Transactions on Industrial Electronics, 47:413-420.
  15. Kröger, T., Kubus, D., and Wahl, F. M. (2007). Force and acceleration sensor fusion for compliant manipulation control in 6 degrees of freedom. Advanced Robotics, 21:1603-1616.
  16. Lawrence, D. (1993). Stability and transparency in bilateral teleoperation. IEEE Transactions on Robotics and Automation, 9:624-637.
  17. Lichiardopol, S., van de Wouw, N., and Nijmeijer, H. (2008). Boosting human force: A robotic enhancement of a human operator's force. Proceedings of International Conference on Decision and Control, pages 4576-4581.
  18. Liu, C. S. and Peng, H. (2000). Disturbance observer based tracking control. Journal of Dynamic Systems, Measurement and Control, 122:332-335.
  19. Nes?ic, D., Teel, A. R., and Sontag, E. D. (1999). Formulas relating K L -stability estimates of discrete-time and sampled-data nonlinear systems. Systems & Control Letters, 38:49-60.
  20. Ohishi, K., Miyazaki, M., Fujita, M., and Ogino, Y. (1991). H8 observer based force control without force sensor. Proceedings of International Conference on Industrial Electronics, Control and Instrumentation, pages 1049 - 1054.
  21. Ohishi, K., Miyazaki, M., Fujita, M., and Ogino, Y. (1992). Force control without force sensor based on mixed sensitivity H8 design method. Proceedings of IEEE International Conference on Robotics and Automation, pages 1356 - 1361.
  22. Ryoo, J. R., Doh, T. Y., and Chung, M. J. (2004). Robust disturbance observer for the track-following control system of an optical disk drive. Control Engineering Practice, 12:577-585.
  23. White, M. T., Tomizuka, M., and Smith, C. (1998). Improved track following in magnetic disk drives using a disturbance observer. IEEE Transactions on Mechatronics, 5:3-11.
  24. Yokokohji, Y. and Yoshikawa, T. (1994). Bilateral control of master-slave manipulators for ideal kinematics coupling formulation and experiment. IEEE Transactions on Robotics and Automation, 10:605-620.
Download


Paper Citation


in Harvard Style

Lichiardopol S., van de Wouw N. and Nijmeijer H. (2010). BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 39-46. DOI: 10.5220/0002934400390046


in Bibtex Style

@conference{icinco10,
author={Stefan Lichiardopol and Nathan van de Wouw and Henk Nijmeijer},
title={BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={39-46},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002934400390046},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS
SN - 978-989-8425-01-0
AU - Lichiardopol S.
AU - van de Wouw N.
AU - Nijmeijer H.
PY - 2010
SP - 39
EP - 46
DO - 10.5220/0002934400390046