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Preserving the Physical Coupling in Teleoperation despite Time Delay through Observer-Based Gradient Control

Singh, Harsimran and Panzirsch, Michael and Ryu, Jee-Hwan (2019) Preserving the Physical Coupling in Teleoperation despite Time Delay through Observer-Based Gradient Control. In: IFAC Proceedings Volumes (IFAC-PapersOnline). Joint IFAC Conference 7th IFAC Symposium on Systems Structure and Control (SSSC) and 15th IFAC Workshop on Time Delay Systems, 09-11 September 2019, Sinaia, Romania.

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Abstract

In recent past, a variety of control approaches were proposed that serve the stabilization of coupled network systems despite time delay. Especially in teleoperation setups, where the input device displays the interaction forces and torques of the remote coupled robot with its environment to a human operator. This force feedback should represent the physical behavior of a coupling at zero time delay. However, most control approaches aim to limit the force feedback for the sake of stability which does not necessarily lead to a reasonable presentation of the the remote side impedances. Recently, Singh et al. (2019) proposed an observer-based gradient controller to eliminate the force jittering on the master side. It rectified the delayed feedback force by removing the undesired increase in force which is generated by the delay in communication channel. The stability of the system was assured via the Time Domain Passivity Approach which leads to an undesired position drift. In this work the observer-based gradient approach is modified to increase it’s force transparency and implemented to another recently developed position-drift free Time Domain Passivity Approach, Panzirsch et al. (2019). The new amalgamated approach is validated and compared to the state-of-the-art in experiments.

Item URL in elib:https://elib.dlr.de/132759/
Document Type:Conference or Workshop Item (Speech)
Title:Preserving the Physical Coupling in Teleoperation despite Time Delay through Observer-Based Gradient Control
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Singh, Harsimranharsimran.singh (at) dlr.dehttps://orcid.org/0000-0002-6735-9945
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Ryu, Jee-Hwanjhryu (at) kaist.ac.krUNSPECIFIED
Date:September 2019
Journal or Publication Title:IFAC Proceedings Volumes (IFAC-PapersOnline)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Series Name:IFAC Proceedings
Status:Published
Keywords:Delayed Coupled Network Systems, Teleoperation, Transparency, Time Delay
Event Title:Joint IFAC Conference 7th IFAC Symposium on Systems Structure and Control (SSSC) and 15th IFAC Workshop on Time Delay Systems
Event Location:Sinaia, Romania
Event Type:international Conference
Event Dates:09-11 September 2019
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: Singh, Harsimran
Deposited On:13 Dec 2019 13:42
Last Modified:13 Dec 2019 13:42

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