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Controlling A Passive Haptic Master During Bilateral Teleoperation
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Book Synopsis Controlling a Passive Haptic Master During Bilateral Teleoperation by : Benjamin Andrew Black
Download or read book Controlling a Passive Haptic Master During Bilateral Teleoperation written by Benjamin Andrew Black and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Haptic devices allow a human to interact physically with a remote or virtual environment by providing tactile feedback to the user. In general haptic devices can be classified in two groups according to the energetic nature of their actuators. Devices using electric motors, pneumatic or hydraulic cylinders or other similar actuators that can add energy to the system are considered "active." Devices using brakes, clutches or other passive actuators are considered "passive" haptic devices. The research presented here focuses on the use of passive haptic devices used during teleoperation, the remote control of a "slave" device by the haptic "master" device. An actuation scheme as well as three different control methods is developed for providing the user with haptic feedback. As a final step, the effectiveness of the controllers is compared to that of a commercially available active haptic device. Twenty subjects provide data that shows the usefulness of the passive device in three typical teleoperation tasks.
Book Synopsis Stability, Performance, and Implementation Issues in Bilateral Teleoperation Control and Haptic Simulation Systems by : Amir Haddadi
Download or read book Stability, Performance, and Implementation Issues in Bilateral Teleoperation Control and Haptic Simulation Systems written by Amir Haddadi and published by . This book was released on 2011 with total page 550 pages. Available in PDF, EPUB and Kindle. Book excerpt: Master-Slave teleoperation systems are designed to extend a human's manipulation capability to remote tasks. Recent applications of these systems are in robotic therapy, telesurgery, and medical simulators. In practice, due to the uncertainties in the operator and environment dynamics, and time delay, stability and performance are compromised. Stability-based and performance-based controllers are introduced for these systems. A major class of the former controllers are based on the passivity theory and suffer from the assumed unbounded range of dynamics which is rather unrealistic. The latter class of controllers are mostly adaptive methods that are based on performance optimization. The theme of this thesis is on the development of new stability analysis methods, control strategies, and implementation techniques for enhanced trade-off between stability and performance. I have developed a less conservative passivity-based robust stability method and introduced, for the first time, the notion of Bounded Impedance Absolute Stability. The method provides mathematical and visual aids to incorporate bounds of the passive environment impedance for less conservative guaranteed stability conditions, promising a better compromise between stability and performance. I have extended the new method to include the dynamic range of the human operator for increased stability margins. I have also used the new method to develop a bilateral controller robust to time delays. Furthermore, I have investigated the effect of sampling position versus velocity for various sampling models to obtain less conservative coupled stability conditions for haptic simulation systems. Estimates of the environment dynamics are required to include their variations. Therefore, I have proposed two new real-time parameter estimation methods for linear and nonlinear contacts and experimentally evaluated and compared them with the available techniques. Finally, I have introduced needle insertion as a task in telerobotic systems to combine the expertise of the surgeon with robotic control. Here, the very first few steps needed to effectively control the targeting needles have been taken. I have developed a mechanics-based dynamic model for bevel-tip flexible needles inserted into soft tissues. Finite element models are used to estimate soft tissue deformation, while the mechanics-based model is used to predict needle deflections due to bevel-tip asymmetry.
Book Synopsis Stability Study of Bilateral Tele-operation Systems with Haptic Device by : Lingfang Dong
Download or read book Stability Study of Bilateral Tele-operation Systems with Haptic Device written by Lingfang Dong and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Passive Control Architectures for Collaborative Virtual Haptic Interaction and Bilateral Teleoperation Over Unreliable Packet-switched Digital Network by : Ke Huang
Download or read book Passive Control Architectures for Collaborative Virtual Haptic Interaction and Bilateral Teleoperation Over Unreliable Packet-switched Digital Network written by Ke Huang and published by . This book was released on 2012 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: This PhD dissertation consists of two major parts: collaborative haptic interaction (CHI) and bilateral teleoperation over the Internet. For the CHI, we propose a novel hybrid peer-to-peer (P2P) architecture including the shared virtual environment (SVE) simulation, coupling between the haptic device and VE, and P2P synchronization control among all VE copies. This framework guarantees the interaction stability for all users with general unreliable packet-switched communication network which is the most challenging problem for CHI control framework design. This is achieved by enforcing our novel passivity condition which fully considers time-varying non-uniform communication delays, random packet loss/swapping/duplication for each communication channel. The topology optimization method based on graph algebraic connectivity is also developed to achieve optimal performance under the communication bandwidth limitation. For validation, we implement a four-user collaborative haptic system with simulated unreliable packet-switched network connections. Both the hybrid P2P architecture design and the performance improvement due to the topology optimization are verified. In the second part, two novel hybrid passive bilateral teleoperation control architectures are proposed to address the challenging stability and performance issues caused by the general Internet communication unreliability (e.g. varying time delay, packet loss, data duplication, etc.). The first method--Direct PD Coupling (DPDC)-- is an extension of traditional PD control to the hybrid teleoperation system. With the assumption that the Internet communication unreliability is upper bounded, the passive gain setting condition is derived and guarantees the interaction stability for the teleoperation system which interacts with unknown/unmodeled passive human and environment. However, the performance of DPDC degrades drastically when communication unreliability is severe because its feasible gain region is limited by the device viscous damping. The second method--Virtual Proxy Based PD Coupling (VPDC)--is proposed to improve the performance while providing the same interaction stability. Experimental and quantitative comparisons between DPDC and VPDC are conducted, and both interaction stability and performance difference are validated.
Book Synopsis Haptics: Perception, Devices, Control, and Applications by : Fernando Bello
Download or read book Haptics: Perception, Devices, Control, and Applications written by Fernando Bello and published by Springer. This book was released on 2016-07-01 with total page 546 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNCS 9774 and 9775 constitutes the refereed proceedings of the 10th International Conference EuroHaptics 2016, held in London, UK, in July 2016. The 100 papers (36 oral presentations and 64 poster presentations) presented were carefully reviewed and selected from 162 submissions. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover topics such as perception of hardness and softness; haptic devices; haptics and motor control; tactile cues; control of haptic interfaces; thermal perception; robotics and sensing; applications.
Book Synopsis Haptics for Virtual Reality and Teleoperation by : Matjaž Mihelj
Download or read book Haptics for Virtual Reality and Teleoperation written by Matjaž Mihelj and published by Springer Science & Business Media. This book was released on 2012-12-14 with total page 217 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation. The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. Only a careful selection of different kinematic configurations is shown to introduce the reader into this field. Mathematical models of virtual environment, collision detection and force rendering topics are strongly interrelated and are described in the next two chapters. The interaction with the virtual environment is simulated with a haptic interface. Impedance and admittance based approaches to haptic robot control are presented. Stability issues of haptic interaction are analyzed in details and solutions are proposed for guaranteeing stable and safe operation. Finally, haptic interaction is extended to teleoperation systems. Virtual fixtures which improve the teleoperation and human-robot cooperation in complex environments are covered next and the last chapter presents nanomanipulation as one specific example of teleoperation.
Book Synopsis Haptic-enabled Teleoperation of Single-rod Hydraulic Manipulators by : Vikram Banthia
Download or read book Haptic-enabled Teleoperation of Single-rod Hydraulic Manipulators written by Vikram Banthia and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hydraulically powered machines such as backhoes, excavators, and underwater manipulators are commonly used in industries and require extensive interaction with highly unstructured environments. Proper operation of these machines with manipulator-like implements depends on the ability of human operators who currently use hand controllers to command in response to various circumstances. This approach, known as teleoperation, combines the strength and accuracy of the manipulator with the intelligence of the human operators who normally use visual information, directly or through cameras, to accomplish a task. Providing haptic sensation about the task environment to operators, augments their ability to perform tele-manipulation. The focus of this thesis is thus on enabling a hydraulic manipulator to interact with the environment using the concept of haptic-enabled teleoperation. The application area is towards the utilization of hydraulic manipulators to perform hazardous and/or difficult tasks such as earth-moving, live-line and underwater maintenance activities. Two main issues in teleoperation control are stability and telepresence. The overall closed-loop control system should be stable irrespective of the behavior of the human operator or the task environment. Although the haptic feedback to the master side enables the human operator to rely on his tactile senses, it can make the overall teleoperation system unstable. Teleoperation control of hydraulic manipulators is generally more challenging than that of their electromechanical counterparts, as hydraulic actuators exhibit significant nonlinear characteristics. In this research, a bilateral control scheme has been developed for haptic teleoperation of single-rod hydraulic actuators considering nonlinear dynamics of hydraulic actuation, haptic device, and the human operator. Stability of the complete control system is confirmed theoretically by building a proper Lyapunov function. In terms of telepresence, haptic sensation is provided to the operator based on the position error between the haptic device end-point and the hydraulic actuator implement displacements. Proposed control scheme can be used in a wide variety of applications where the interaction force between the hydraulic actuator and the task environment cannot be measured. The proposed control scheme is easy to implement as it only requires the measurements of the actuator line pressures and displacements of the master and slave. This control scheme is further improved to incorporate base disturbances of single-rod hydraulic actuators. Stability of this controller with an estimated upper value for the base disturbance is analytically proven. Simulation studies are conducted, which confirms that the developed controllers can effectively stabilize the system while interacting with a task environment. They are further tested experimentally on a hydraulic test rig to verify their practicality and effectiveness in real applications.
Book Synopsis Cutaneous Haptic Feedback in Robotic Teleoperation by : Claudio Pacchierotti
Download or read book Cutaneous Haptic Feedback in Robotic Teleoperation written by Claudio Pacchierotti and published by Springer. This book was released on 2015-11-06 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work addresses the challenge of providing effective cutaneous haptic feedback in robotic teleoperation, with the objective of achieving the highest degree of transparency whilst guaranteeing the stability of the considered systems. On the one hand, it evaluates teleoperation systems that provide only cutaneous cues to the operator, thus guaranteeing the highest degree of safety. This cutaneous-only approach shows intermediate performance between no force feedback and full haptic feedback provided by a grounded haptic interface, and it is best suitable for those scenarios where the safety of the system is paramount, e.g., robotic surgery. On the other hand, in order to achieve a higher level of performance, this work also investigates novel robotic teleoperation systems with force reflection able to provide mixed cutaneous and kinesthetic cues to the operator. Cutaneous cues can compensate for the temporary reduction of kinesthetic feedback necessary to satisfy certain stability conditions. This state-of-the-art volume is oriented toward researchers, educators, and students who are interested in force feedback techniques for robotic teleoperation, cutaneous device design, cutaneous rendering methods and perception studies, as well as readers from different disciplines who are interested in applying cutaneous haptic technologies and methods to their field of interest.
Book Synopsis Intelligent Networked Teleoperation Control by : Zhijun Li
Download or read book Intelligent Networked Teleoperation Control written by Zhijun Li and published by Springer. This book was released on 2015-05-15 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.
Book Synopsis Aerial Manipulation by : Matko Orsag
Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Book Synopsis Control Design for Haptic Systems by : Suyong Kim
Download or read book Control Design for Haptic Systems written by Suyong Kim and published by Springer Nature. This book was released on with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Dissipative Systems Analysis and Control by : Bernard Brogliato
Download or read book Dissipative Systems Analysis and Control written by Bernard Brogliato and published by Springer. This book was released on 2009-10-12 with total page 579 pages. Available in PDF, EPUB and Kindle. Book excerpt: This second edition of Dissipative Systems Analysis and Control has been substantially reorganized to accommodate new material and enhance its pedagogical features. It examines linear and nonlinear systems with examples of both in each chapter. Also included are some infinite-dimensional and nonsmooth examples. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable feedback control laws.
Book Synopsis Haptics: Perception, Devices and Scenarios by : Manuel Ferre
Download or read book Haptics: Perception, Devices and Scenarios written by Manuel Ferre and published by Springer. This book was released on 2008-06-28 with total page 960 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 6th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2008, held in Madrid, Spain, in June 2008. The 119 revised full papers presented were carefully reviewed and selected from 150 submissions. The papers are organized in topical sections on control and technology, haptic perception and psychophysics, haptic devices, haptics rendering and display, multimodal interaction and telepresence, as well as haptic applications.
Book Synopsis Haptics: Perception, Devices, Mobility, and Communication by : Poika Isokoski
Download or read book Haptics: Perception, Devices, Mobility, and Communication written by Poika Isokoski and published by Springer. This book was released on 2012-05-30 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book and its companion volume, LNCS 7282 and 7283, constitute the refereed proceedings of the 8th International Conference, EuroHaptics 2012, held in Tampere, Finland, in June 2012. The 99 papers (56 full papers, 32 short papers, and 11 demo papers) presented were carefully reviewed and selected from 153 submissions. Part I contains the full papers whereas Part II contains the short papers and the demo papers.
Book Synopsis Output Synchronization for Teleoperation of Robot Manipulators by : Patrick Miller
Download or read book Output Synchronization for Teleoperation of Robot Manipulators written by Patrick Miller and published by . This book was released on 2009 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the emergence of innumerable unmanned robotic systems, there is a greater push for a robust and stable means of teleoperated control. Teleoperation is extremely useful in two major ways. First, a remotely control robot may be able to enter an environment which is dangerous or inhabitable by a human operator. This scenario pertains to autonomous vehicle or hazardous waste management applications. Secondly, robot manipulators are capable of detecting and compensating for environmental interactions and making more precise and consistent movements then their human counterparts. This becomes particularly useful robot assisted surgery. In such remote control applications, it is also important to accurately reflect the remote environment back to the human user. This is typically achieved by adding force and torque sensors on the remote system and transmitting force data back to the operator.^This is an ideal form of bilateral control since the sense of touch is significantly more sensitive then the human eye. However, problems arise when transmission delays are introduced into the link between host and remote system. Transmission delays are an unavoidable part of remote communications which are typically compensated by adding physical or virtual compliance into the system. However, this has the deleterious effect on 'transparent' perception of the remote environment. Thus, it is the responsibility of the control algorithm to compensate for delay induced instability while providing a transparent feel to the human operator. Maintaining the stability of the overall teleoperation scheme at a minimal loss of performance is the basis of this thesis. The case-study of telemanipulation of an RR planar manipulator and wheeled mobile robot using the stylus endpoint Phantom Omni haptic device will serve to form our efforts in this thesis.^First and foremost the devices are kinematically and dynamically dissimilar. These couple with the remaining issues of stable teleoperation over lossy, band limited, imperfect communication media to make this a challenging task. To this end we will study the application of a bilateral teleoperation framework developed [1] using nonlinear control and energy based stability theory to overcome some of the limitations. Locally an adaptive controller will identify and stabilize the dynamics of the master and slave systems. This local controller will rendered the dynamics passive to a secondary coupling input. A passive mapping is used to couple the output states of the master and slave systems. This mapping is shown to be insensitive to lossy and delayed communication mediums. A battery of simulations and real time experiments are used to verify the proposed controller.
Book Synopsis Networking Humans, Robots and Environments by : Nak Y. Chong
Download or read book Networking Humans, Robots and Environments written by Nak Y. Chong and published by Bentham Science Publishers. This book was released on 2013-09-26 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book dives into the heart of how to design distributed control architectures for heterogeneous teams of humans, robots, and automated systems, enabling them to achieve greater cooperation and autonomy through the use of network technologies. It provides a wide range of practical, proven strategies for pervasive communication and collaborative problem solving abilities of humans, robots, and their environments. Each chapter consists of a presentation of findings from the latest research in networked robots and ambient intelligence. The chapters also detail how to allow robots to achieve universal access to the extended functionality of the environment that brings various cost effective services to those in need. Readers can envision a realistic view of what can be expected from a networked human robot cooperative environment in the next decade.
Book Synopsis Haptic-Enabled Teleoperation of Hydraulic Manipulators by : Kurosh Zarei-nia
Download or read book Haptic-Enabled Teleoperation of Hydraulic Manipulators written by Kurosh Zarei-nia and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
