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An adaptive force reflection scheme for bilateral teleoperation

Published online by Cambridge University Press:  09 April 2014

Zhang Chen ,
Bin Liang ,
Tao Zhang ,
Bo Zhang  and
Haitao Song
Zhang Chen
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 10084, China Key Laboratory of Advanced Control and Optimization for Chemical Processes, Shanghai 200237, China Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen 518057, China
Bin Liang
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 10084, China Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen 518057, China
Tao Zhang*
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 10084, China Key Laboratory of Advanced Control and Optimization for Chemical Processes, Shanghai 200237, China
Bo Zhang
Affiliation:
Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen 518057, China
Haitao Song
Affiliation:
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing 10084, China
*
*Corresponding author. E-mail: taozhang@mail.tsinghua.edu.cn
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Summary

In this paper, an adaptive force reflection scheme is proposed for bilateral teleoperation. In order to achieve an ideal telepresence performance while keeping the system stable, the force reflection algorithm needs to take both the human force and the contact force into consideration. An observer based on the feature of the human operator is designed to estimate the force applied on the master device. The reflected force is calculated by performing the orthogonal decomposition of the contact force, and is adjusted adaptively according to the estimated human force. The direction of the reflected force becomes a key consideration in the design process, so the proposed approach has an advantage in the guiding contact task. Based on the small gain theorem, the master device with the force reflection scheme is proved to be input-to-output stable, and the derivation for stability criterion of the closed-loop teleoperation system is also given. The results of simulations and experiments on a 6-degree of freedom teleoperation system demonstrate the effectiveness of the proposed scheme.

Keywords

Bilateral teleoperationForce feedbackStability analysisTelepresence
Type
Articles
Information
Robotica , Volume 33 , Issue 7 , August 2015 , pp. 1471 - 1490
Copyright
Copyright © Cambridge University Press 2014 

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