FORCE FEEDBACK AND CONTROL FOR WAVE-VARIABLE TELEOPERATION SYSTEMS WITH TIME DELAYS

Lingyan Hu, Yubin Yang, and Shaoping Xu

References

  1. [1] L. Hu, X.P. Liu, G. Liu, and S. Xu, Trajectory tracking compensation for teleoperation with transmission delays, Robotica, 29(6), 2011, 863–871.
  2. [2] W.H. Zhu and S.E. Salcudean, Stability guaranteed teleoperation: an adaptive motion/force control approach, IEEE Transactions on Automatic Control, AC-45(11), 2000, 1951–1969.
  3. [3] T. Slama, A. Trevisani, D. Aubry, R. Oboe, and F. Kratz, Experimental analysis of an internet-based bilateral teleoperation system with motion and force scaling using a model predictive controller, IEEE Transactions on Industrial Electronics, 55(9), 2008, 3290–3299.
  4. [4] M. Al-Mouhamed, M. Nazeeruddin, and N. Merah, Design and instrumentation of force feedback in telerobotics, IEEE Transactions on Instrumentation and Measurement, 58(6), 2009, 1949–1957.
  5. [5] I.G. Polushin, P.X. Liu, and C.H. Lung, Projection-based force reflection algorithm for stable bilateral teleoperation over networks, IEEE Transactions on Instrumentation and Measurement, 57(9), 2008, 1854–1865.
  6. [6] S. Islam and P.X. Liu, Robust adaptive fuzzy output feedback control system for robot manipulation, IEEE/ASME Transactions on Mechatronics, 16(2), 2011, 288–296.
  7. [7] C. Hua and X.P. Liu, Teleoperation over the internet with/without velocity signal, IEEE Transactions on Instrumentation and Measurement, 60(1), 2011, 4–13.
  8. [8] S. Munir and W.J. Book, Internet-based teleoperation using wave variables with prediction, IEEE/ASME Transactions on Mechatronics, 7(2), 2002, 124–133.
  9. [9] G. Niemeyer and J.-J. Slotine, Telemanipulation with time delays, International Journal of Robotics Research, 23(9), 2004, 873–890.
  10. [10] Y. Ye and P.X. Liu, Improving trajectory tracking in wave-variable-based teleoperation, IEEE/ASME Transactions on Mechatronics, 15(2), 2010, 321–326.
  11. [11] Y. Ye and P.X. Liu, Improving haptic feedback fidelity in wave-variable-based teleoperation oriented to telemedical applications, IEEE Transactions on Instrumentation and Measurement, 58(8), 2009, 2847–2855.
  12. [12] M. Alise, R.G. Roberts, D.W. Repperger, C.A. Moore, and S. Tosunoglu, On extending the wave variable method to multiple-dof teleoperation systems, IEEE/ASME Transactions on Mechatronics, 14(1), 2009, 55–62.
  13. [13] A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem, Transparent time-delayed bilateral teleoperation using wave variables, IEEE/ASME Transactions on Mechatronics, 16(3), 2009, 548–555.
  14. [14] L. Bate, C.D. Cook, and Z. Li, Reducing wave-based teleoperator reflections for unknown environments, IEEE Transactions on Industrial Electronics, 58(2), 2011, 392–397.
  15. [15] B. Yalcin and K. Ohnishi, Stable and transparent time-delayed teleoperation by direct acceleration waves, IEEE Transactions on Industrial Electronics, 57(9), 2010, 3228–3238.
  16. [16] K.J. Kuchenbecker and G. Niemeyer, Induced master motion in force-reflecting teleoperation, Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 128(4), 2006, 800–810.
  17. [17] I.G. Polushin, P. X. Liu, and C.H. Lung, A control scheme for stable force-reflecting teleoperation over IP networks, IEEETransactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 36(4), 2006, 930–939.
  18. [18] I.G. Polushin, P.X. Liu, and C.H. Lung, A force-refection algorithm for improved transparency in bilateral teleoperation with communication delay, IEEE/ASME Transactions on Mechatronics, 12(3), 2007, 361–374.
  19. [19] I.G. Polushin, X.P. Liu, and C.-H. Lung, Stability of bilateral teleoperators with generalized projection-based force reaction algorithms, Automatica, 48(6), 2012, 1005–1016.
  20. [20] J.J.E. Slotine and W. Li, Applied nonlinear control (NJ, Prentice-Hall: Englewood Cliffs, 1990).
  21. [21] G. Niemeyer and J.-J.E. Slotine, Stable adaptive teleoperation, Journal of Oceanic Engineering, 16(1), 1991, 152–162.
  22. [22] W.S. Levine, The control handbook (Boca Raton, FL: CRC Press, 1996).
  23. [23] D.J. Lee and M.W. Spong, Passive bilateral teleoperation with constant time delays, IEEE Transactions on Robotics, 22(2),2006, 269–281.
  24. [24] L.Y. Hu, X.P. Liu, and G.P. Liu, The wave-variable teleoperator with improved trajectory tracking, Proc. 2010 8th IEEE Int. Conf. on Control and Automation, Xiamen, P.R. China, 2010, 322–327.
  25. [25] L. Hu, X.P. Liu, G. Liu, et al., A force feedback algorithm for the wave-variable teleoperator with high stability, Proc. 9th IEEE Int. Symp. Haptic Audio Visual Environments and Games, Qinhuangdao, P.R. China, 2011, 158–163.

Important Links:

Go Back