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Output Synchronization For Teleoperation Of Robotic Manipulators
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Book Synopsis Output Synchronization for Teleoperation of Robotic Manipulators by : Patrick Miller
Download or read book Output Synchronization for Teleoperation of Robotic Manipulators written by Patrick Miller and published by LAP Lambert Academic Publishing. This book was released on 2015-03-25 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the emergence of 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. Transmission delays are an unavoidable part of remote communications which are typically compensated by adding compliance causing a deleterious effect on 'transparent' perception of the remote environment. Maintaining the stability of the overall teleoperation scheme at a minimal loss of performance is the basis of this text. It studies the application of a bilateral teleoperation framework using a nonlinear control and energy based stability theory to overcome these limitations.
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 High-Performance Adaptive Control of Teleoperation Systems by : Di-Hua Zhai
Download or read book High-Performance Adaptive Control of Teleoperation Systems written by Di-Hua Zhai and published by CRC Press. This book was released on 2023-04-17 with total page 1984 pages. Available in PDF, EPUB and Kindle. Book excerpt: Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations. The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances. This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and computer science.
Book Synopsis NOVEL MULTILATERAL TELEOPERATION AND COOPERATIVE CONTROL APPROACHES FOR MULTIPLE MANIPULATORS. by : Usman Ahmad
Download or read book NOVEL MULTILATERAL TELEOPERATION AND COOPERATIVE CONTROL APPROACHES FOR MULTIPLE MANIPULATORS. written by Usman Ahmad and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teleoperation of robotic manipulators has been one of the popular research areas in the robotics research community for last couple of decades. A variety of control methods have been proposed for bilateral and multilateral teleoperation of robotic manipulators. Although a lot of research has been carried out on teleoperation control, some of the aspects of these systems are still unexplored. For example, most of the control schemes for teleoperation systems focus only on the compensation of time delays while there exist other performance metrics for these systems such as better transparency, optimal force distribution and authority adjustment in cooperative applications. Additionally, some of the control schemes lack to provide the guaranteed stability of the teleoperation system. This research works aims to propose novel teleoperation and cooperative control schemes for fixed-base and mobile manipulators. This research work can be divided into two main parts. The first part of this thesis is focused on the development of a Time Domain Passivity Control (TDPC) scheme which ensures the stability of the multilateral teleoperation system under constant and varying time delays. The proposed control framework not only avoids the zero division problem of the control laws of traditional TDPC but also provides a novel communication channel architecture to assign weights to master and slave robots to cooperatively execute the task. Simulation and experimental results validate the efficacy of the proposed TDPC scheme for the multilateral teleoperation of fixed-base robotic manipulators. The second part is focused on the cooperative and teleoperation control of mobile manipulators. A couple of novel cooperative control schemes have been proposed for the cooperative control of mobile manipulators to manipulate a common object attached to the end-effectors. An adaptive robust teleoperation control scheme has also been proposed with the control objectives of guaranteed stability, synchronization and internal force distribution. Simulation results validate the efficacy of the proposed schemes for the cooperative control and teleoperation of mobile manipulators.
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 Analysis and Design for Networked Teleoperation System by : Changchun Hua
Download or read book Analysis and Design for Networked Teleoperation System written by Changchun Hua and published by Springer. This book was released on 2019-05-24 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents cutting-edge results on stability analysis and control scheme designs for networked teleoperation systems. It highlights new research on commonly encountered nonlinear teleoperation systems, including the stability analysis of teleoperation systems with asymmetric time-varying delays, stability analysis of teleoperation systems with interval time delays, and so on. Moreover, the book presents several high-performance control scheme designs for teleoperation systems when the velocity is available and unavailable, and for systems with nonlinear input. The results presented here mark a substantial contribution to nonlinear teleoperation system theory, robotic control theory and networked control system theory. As such, the book will be of interest to university researchers, R&D engineers and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of networked teleoperation systems, robotic systems and nonlinear control systems.
Book Synopsis Networked Multi-Manipulator System and Its Teleoperation Using Adaptive Non-Singular Terminal Sliding Mode Control by : Henghua Shen
Download or read book Networked Multi-Manipulator System and Its Teleoperation Using Adaptive Non-Singular Terminal Sliding Mode Control written by Henghua Shen and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teleoperation of multiple robot manipulators has been one of the most popular research areas in the robotics research community for the last couple of decades. Such complex systems can be decoupled into two subsystems, namely, multi-agent systems (MASs) and teleoperation systems. In addition to the high nonlinearity of the networked multi-manipulator systems, deleterious effects, caused by network-induced constraints and the lack of exact robot modelling information, can make the control systems' desired performance and stability difficult to achieve. To meet these challenges, concepts from the non-singular terminal sliding mode (NTSM) control method are developed to achieve the exogenous disturbance rejection and the finite-time full-pose synchronization. Additionally, a new adaptive NTSM (ANTSM) scheme is designed for multi-manipulator systems where the models may be initially uncertain or slowly varying over time. To further improve the performance, a set of novel techniques are developed, including the use of novel mixed-type feedback, time-varying logistic-function-based control gain, and energy-index-based neighbour selection policy. The proposed ANTSM approach has also successfully been applied to the teleoperation control systems. In addition, the master manipulator uses a force predictor to estimate the real-time environmental force on the slave side so that the direct transmission of the force signals is avoided. The proposed approaches for the MASs and teleoperation subsystems are integrated into a single-master-multiple-slave manipulator system. Simulation and experimental results validate the efficacy of the proposed schemes.
Book Synopsis High-Performance Adaptive Control of Teleoperation Systems by : Di-Hua Zhai
Download or read book High-Performance Adaptive Control of Teleoperation Systems written by Di-Hua Zhai and published by CRC Press. This book was released on 2023-04-17 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations. The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances. This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and computer science.
Book Synopsis Passivity-Based Control and Estimation in Networked Robotics by : Takeshi Hatanaka
Download or read book Passivity-Based Control and Estimation in Networked Robotics written by Takeshi Hatanaka and published by Springer. This book was released on 2015-04-10 with total page 349 pages. Available in PDF, EPUB and Kindle. Book excerpt: Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques, the authors provide experimental case studies on testbeds of robotic systems including networked haptic devices, visual robotic systems, robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control and estimation. Convergence is rigorously proved even when other passive components are interconnected. The passivity approach is also differentiated from other methodologies. The third part presents the unified passivity-based control-design methodology for multi-agent systems. This scheme is shown to be either immediately applicable or easily extendable to the solution of various motion coordination problems including 3-D attitude/pose synchronization, flocking control and cooperative motion estimation. Academic researchers and practitioners working in systems and control and/or robotics will appreciate the potential of the elegant and novel approach to the control of networked robots presented here. The limited background required and the case-study work described also make the text appropriate for and, it is hoped, inspiring to students.
Book Synopsis Output Synchronization of Networked Passive Systems by : Nikhil Chopra
Download or read book Output Synchronization of Networked Passive Systems written by Nikhil Chopra and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Synchronized Trajectory Tracking Control for Parallel Robotic Manipulators by : Lu Ren
Download or read book Synchronized Trajectory Tracking Control for Parallel Robotic Manipulators written by Lu Ren and published by . This book was released on 2006 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, in order to solve the trajectory tracking control problem of parallel robotic manipulators, we propose a new control approach, termed synchronized control. In this control scheme, considering the closed-loop kinematic chain mechanism of parallel robotic manipulators, an additional feedback signal, termed the synchronization error, is employed. Different from the traditional tracking errors, i.e., position errors and velocity errors, the synchronization error represents the coordination degree of the active joints in a parallel robotic manipulator. Therefore, compared with traditional control approaches, e.g., PD control and PID control, the employment of the synchronization error in a synchronized controller improves the tracking performance of a parallel robotic manipulator. Experimental results also demonstrate this claim. With respect to different operation conditions and tracking performance requirements, based on the synchronized control, we propose two new control approaches, termed adaptive synchronized (A-S) control and convex synchronized (C-S) control. The former is proposed to address unknown parameters in the dynamic model of a parallel robotic manipulator during practical operations. Through estimating unknown parameters during tracking control process by an estimator, the influence of the unknown parameters is eliminated. The latter is proposed to address the multiple simultaneous specification (MSS) problem during trajectory tracking. By using the convex combination method, the C-S controller is designed through combining multiple synchronized controllers. This control approach substantially lessens the burden of tuning control gains. In principle, the proposed synchronized control, A-S control and C-S control are all suitable for parallel robotic manipulators with various structures. Experiments conducted on a 3-DOF P-R-R planar parallel robotic manipulator demonstrate the validity and effectiveness of these three control approaches.
Book Synopsis Visual Servoing in Robotics by : Jorge Pomares
Download or read book Visual Servoing in Robotics written by Jorge Pomares and published by MDPI. This book was released on 2021-08-31 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas.
Book Synopsis Topics in Time Delay Systems by : Jean Jacques Loiseau
Download or read book Topics in Time Delay Systems written by Jean Jacques Loiseau and published by Springer. This book was released on 2009-08-10 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: Time delays are present in many physical processes due to the period of time it takes for the events to occur. Delays are particularly more pronounced in networks of interconnected systems, such as supply chains and systems controlled over c- munication networks. In these control problems, taking the delays into account is particularly important for performance evaluation and control system’s design. It has been shown, indeed, that delays in a controlled system (for instance, a c- munication delay for data acquisition) may have an “ambiguous” nature: they may stabilize the system, or, in the contrary,they may lead to deteriorationof the clos- loop performance or even instability, depending on the delay value and the system parameters. It is a fact that delays have stabilizing effects, but this is clearly con i- ing for human intuition. Therefore,speci c analysis techniquesand design methods are to be developed to satisfactorily take into account the presence of delays at the design stage of the control system. The research on time delay systems stretches back to 1960s and it has been very active during the last twenty years. During this period, the results have been presented at the main control conferences(CDC, ACC, IFAC), in specialized wo- shops (IFAC TDS series), and published in the leading journals of control engine- ing, systems and control theory, applied and numerical mathematics.
Book Synopsis Repetitive Motion Planning and Control of Redundant Robot Manipulators by : Yunong Zhang
Download or read book Repetitive Motion Planning and Control of Redundant Robot Manipulators written by Yunong Zhang and published by Springer Science & Business Media. This book was released on 2014-07-08 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.
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 Adaptive Control of Mechanical Manipulators by : John J. Craig
Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Teleoperation of Differential Drive Mobile Robots by :
Download or read book Teleoperation of Differential Drive Mobile Robots written by and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
