elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Smoother Position-Drift Compensation for Time Domain Passivity Approach Based Teleoperation

Coelho, Andre and Singh, Harsimran and Muskardin, Tin and Balachandran, Ribin and Kondak, Konstantin (2018) Smoother Position-Drift Compensation for Time Domain Passivity Approach Based Teleoperation. In: IEEE International Conference on Intelligent Robots and Systems, pp. 5525-5532. IEEE. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1-5 Oct 2018, Madrid, Spain. DOI: 10.1109/IROS.2018.8594125

[img] PDF
2MB

Official URL: https://ieeexplore.ieee.org/abstract/document/8594125

Abstract

Despite being one of the most robust methods in bilateral teleoperation, Time Domain Passivity Approach (TDPA) presents the drawback of accumulating position drift between master and slave devices. The lack of position synchronization poses an obstacle to the performance of teleoperation and may prevent the successful accomplishment of such tasks. Several techniques have been developed in order to solve the position-drift problem in TDPA-based teleoperation. However, they either present poor transparency by over-conservatively constraining force feedback or add high impulse-like force signals that can be harmful to the hardware and to the human operator. We propose a new approach to compensate position drift in TDPA-based teleoperation in a smoother way, which keeps the forces within the normal range of the teleoperation task while preserving the level of transparency and the robust stability of energy-based TDPA. We also add a way of tuning the compensator to behave in accordance with the task being performed, whether it requires faster or smoother compensation. The feasibility and performance of the method were experimentally validated. Good position tracking and regular-amplitude forces are demonstrated with up to 500 ms round-trip constant and variable delays for hard-wall contacts.

Item URL in elib:https://elib.dlr.de/130298/
Document Type:Conference or Workshop Item (Speech)
Title:Smoother Position-Drift Compensation for Time Domain Passivity Approach Based Teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Coelho, Andreandre.coelho (at) dlr.deUNSPECIFIED
Singh, Harsimranharsimran.singh (at) dlr.deUNSPECIFIED
Muskardin, TinTin.Muskardin (at) dlr.deUNSPECIFIED
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Kondak, KonstantinKonstantin.Kondak (at) dlr.deUNSPECIFIED
Date:October 2018
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/IROS.2018.8594125
Page Range:pp. 5525-5532
Publisher:IEEE
Series Name:IEEE International Conference on Intelligent Robots and Systems
Status:Published
Keywords:Telemanipulation, Robotics, Time Domain Passivity Approach, Drift Compensation
Event Title:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Madrid, Spain
Event Type:international Conference
Event Dates:1-5 Oct 2018
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 Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Fialho Coelho, Andre
Deposited On:08 Nov 2019 10:02
Last Modified:08 Nov 2019 10:02

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.