Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback
Authors: G. Q. Bao Tran, Takanori Miyoshi, Ho Duc Tho
Organizations: Coordinated Science Laboratory, University of Illinois Urbana-Champaign, Urbana, IL 61801, USA · Department of System Safety, Nagaoka University of Technology, 1603-1 Kamitomiokamachi, Niigata, Japan · Department of Control Engineering and Automation, HCMC University of Technology (HCMUT), HCMC, Vietnam
We study bilateral teleoperation between nonlinear, multi-DOF robotic manipulators in the presence of constant communication delays. Unlike classical wave-transformation architectures that transmit a coordinating force, we consider the case where the environmental force is reflected to the master side to enhance teleoperation transparency. Since direct contact force feedback might destabilize the closed-loop system, we first develop a passivity-shortage characterization for the Euler--Lagrange remote system using a linear matrix inequality (LMI) approach. An upper strictly passive communication law is then employed to compensate for the computed passivity shortage so that the closed-loop stability under delays as well as position and force synchronization are preserved under appropriate conditions. Simulations with nonlinear 2-DOF robotic manipulators in different settings illustrate our approach.
Institute of Automation, Chinese Academy of Sciences, China. · School of Artificial Intelligence, University of Chinese Academy of Sciences, China. · Beijing Amigos Robot Technology Co., Ltd., China.