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Time Domain Passivity Control for Delayed Teleoperation

Artigas Esclusa, Jordi (2014) Time Domain Passivity Control for Delayed Teleoperation. Dissertation, Universidat Politecnica de Madrid.

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Telepresence combines different sensorial modalities, including vision and touch, to produce a feeling of being present in a remote location. The key element to successfully implement a telepresence system and thus to allow telemanipulation of a remote environment is force feedback. In a telemanipulation, mechanical energy is conveyed from the human operator to the manipulated object found in the remote environment. In general, energy is a property of all physical objects, fundamental to their mutual interactions in which the energy can be transferred among the objects and can change form but cannot be created or destroyed. In this thesis, we exploit this fundamental principle to derive a novel bilateral control mechanism that allows to design stable teleoperation systems with any conceivable communication architecture. The rationale starts from the fact that the mechanical energy injected by a human operator into the system must be conveyed to the remote environment and vice versa. As will be seen, setting energy as a control variable allows a more general treatment of the system than the more conventional setting of specific system variables, as can be position, velocity or force. Through the Time Delay Power Network (TDPN) concept, the issue of defining the energy flows involved in a teleoperation system is solved with independence of the communication architecture. In particular, communication time delays are found to be a source of virtual energy. This fact is observed with delays starting from 1 millisecond. Since this energy is intrinsically added, the resulting teleoperation system can be non-passive and thus become unstable. The Time Delay Power Networks are found to be carriers of the desired exchanged energy but also generators of virtual energy due to the time delay. Once these networks are identified, the Time Domain Passivity Control approach for TDPNs is proposed as a control mechanism to ensure system passivity and therefore, system stability. The proposed method is based on the simple fact that this intrinsically added energy due to the communication must be transformed into dissipation. Then the system becomes closer to the desired one, where only the energy injected from one side of the system is conveyed to the other one. The resulting system presents two qualities: On one hand, system stability is guaranteed through passivity, independently from the chosen control architecture and communication channel; on the other, performance is maximized in terms of energy transfer fidelity. The proposed methods are sustained with a set of experimental implementations using different control architectures and communication delays ranging from 2 to 900 milliseconds. An experiment that includes a communication Space link based on the geostationary satellite ASTRA concludes this thesis.

Item URL in elib:https://elib.dlr.de/113216/
Document Type:Thesis (Dissertation)
Title:Time Domain Passivity Control for Delayed Teleoperation
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Artigas Esclusa, JordiJordi.Artigas (at) dlr.deUNSPECIFIED
Date:14 May 2014
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:218
Keywords:Time delay, teleoperation, Time domain passivity control, time delay power network, electrical representation, port-netowrk, stability, transparency
Institution:Universidat Politecnica de Madrid
Department:Escuela Tecnica Superior de Ingenieros Industriales
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Radhakrishna Balachandran, Ribin
Deposited On:17 Jul 2017 10:18
Last Modified:31 Jul 2019 20:10

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