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Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication

Published online by Cambridge University Press:  10 December 2015

Emre Uzunoğlu and
Mehmet İsmet Can Dede
Emre Uzunoğlu
Affiliation:
Department of Mechanical Engineering, İzmir Institute of Technology, İzmir, Turkey. E-mail: candede@iyte.edu.tr
Mehmet İsmet Can Dede*
Affiliation:
Department of Mechanical Engineering, İzmir Institute of Technology, İzmir, Turkey. E-mail: candede@iyte.edu.tr
*
*Corresponding author. E-mail: candede@iyte.edu.tr.
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Summary

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In this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.

Keywords

Bilateral teleoperationcommunication failuremodel-mediation methodimpedance control

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 5 , May 2017, pp. 1121 - 1136
Copyright
Copyright © Cambridge University Press 2015 

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