Hostname: page-component-8448b6f56d-tj2md Total loading time: 0 Render date: 2024-04-16T15:46:07.168Z Has data issue: false hasContentIssue false
  • English
  • Français

Dexterous Remote Manipulation by Means of a Teleoperation System

Published online by Cambridge University Press:  04 February 2019

Javier Pliego-Jiménez Open the ORCID record for Javier Pliego-Jiménez [Opens in a new window] ,
Marco A. Arteaga-Pérez  and
César Cruz-Hernández
Javier Pliego-Jiménez*
Affiliation:
Electronics and Telecommunications Department, Applied Physics Division, CICESE-CONACYT, Baja California, Mexico
Marco A. Arteaga-Pérez
Affiliation:
Control and Robotics Department, Electrical Engineering Division, Faculty of Engineering, UNAM, Cd. México, Mexico. E-mail: marteagp@unam.mx
César Cruz-Hernández
Affiliation:
Electronics and Telecommunications Department, Applied Physics Division, CICESE, Baja California, Mexico. E-mail: ccruz@cicese.mx
*
*Corresponding author. E-mail: jpliego@cicese.mx
Get access Rights & Permissions [Opens in a new window]

Summary

Humans are experts in manipulation and grasping tasks. However, several industrial tasks represent a risk to human operators, for instance, handling radioactive material or transporting heavy objects. Teleoperation robotic schemes extend human capabilities, but they are highly nonlinear systems. In this paper, we address the problem of dexterous remote manipulation by means of a unilateral heterogenous teleoperation scheme composed by a single-master and multiple-slave manipulators handling a rigid object. In order to achieve a stable grasp, a decentralized force/position controller with continuous and bounded input torques based on the Orthogonalization Principle and a second-order sliding mode control is proposed for the slave robots. In addition, a trajectory planning method based on holonomic constraints is proposed to control multiple-slave manipulators with a single-master device. Experimental results are presented to evaluate the performance of the proposed approach.

Keywords

Dexterous manipulationTeleoperationForce controlRobot manipulator
Type
Articles
Information
Robotica , Volume 37 , Issue 8 , August 2019 , pp. 1457 - 1476
Copyright
© Cambridge University Press 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Hokayem, P. and Spong, M., “Bilateral teleoperation: An historical survey,” Automatica 42(12), 2035–2057 (2006).CrossRefGoogle Scholar
Sirouspour, S., “Modeling and control of cooperative teleoperation systems,” IEEE Trans. Robot. 21(6), 1220–1225 (2005).CrossRefGoogle Scholar
Malysz, P. and Sirouspour, S., “Trilateral teleoperation control of kinematically redundant robot manipulators,” Int. J. Robot. Res. 30(13), 1643–1664 (2011).CrossRefGoogle Scholar
Shahbazi, M., Atashzar, S. F., Talebi, H. A. and Patel, R., “Novel cooperative teleoperation framework: Multi-master/single-slave system,” IEEE-ASME Trans. Mechatron. 20(4), 1668–1679 (2015).CrossRefGoogle Scholar
Li, J., Tavakoli, M. and Huang, Q., “Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom,” IET Control Theor. App. 8(12), 1062–1070 (2014).CrossRefGoogle Scholar
Shimoga, K. B., “Robot grasp synthesis algorithms a survey,” Int. J. Robot. Res. 15(3), 230–266 (1996).Google Scholar
Bicchi, A., “Hands for dexterous manipulation and robust grasp: A difficult road toward simplicity,” IEEE Trans. Robot. Autom. 16(6), 652–662 (2000).CrossRefGoogle Scholar
Lin, Y. and Sun, Y., “Robot grasp planning based on demonstrated grasp strategies,” Int. J. Robot. Res. 34(1), 26–42 (2014).CrossRefGoogle Scholar
Dollar, A. M. and Howe, R. D., “A robust compliant grasper via shape deposition manufacturing,” IEEE/ASME Trans. Mechatron. 11(2), 154–161 (2006).CrossRefGoogle Scholar
Catalano, M. G., Grioli, G., Farnioli, E., Serio, A., Piazza, C. and Bicchi, A., “Adaptive synergies for the design and control of the Pisa/IIT SoftHand,” Int. J. Robot. Res. 33(5), 768–782 (2014).CrossRefGoogle Scholar
Rojas, N., Ma, R. R. and Dollar, A. M., “The GR2 gripper: An underactuated hand for open-loop in-hand planar manipulation,” IEEE Trans. Robot. 32(3), (2016).CrossRefGoogle Scholar
Yoshikawa, T. and Zheng, X. Z., “Coordinated dynamic hybrid position/force control for multiple robot manipulators handling one constrained object,” Int. J. Robot. Res. 12(3), 219–230 (1993).CrossRefGoogle Scholar
Gueaieb, W., Al-Sharhan, S. and Bolic, M., “Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics,” Automatica 43(5), 842–851 (2007).CrossRefGoogle Scholar
Pliego-Jiménez, J. and Arteaga-Pérez, M. A., “On the adaptive control of cooperative robots with time-variant holonomic constraints,” Int. J. Adap. Control Signal Process. 31(8), 1217–1231 (2015).CrossRefGoogle Scholar
Griffin, W., Proavancher, W. and Cutkosky, M., “Feedback strategies for telemanipulation with shared control of object handling forces,” Presence Teleoperat. Virt. Environ. 14(6), 720–731 (2005).CrossRefGoogle Scholar
Li, Z. and Su, C. Y., “Neural-adaptive control of single-master–multiple-slave teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties,” IEEE Trans. Neural Netw. Learn. Syst. 24(9), 1400–1413 (2013).Google ScholarPubMed
Aldana, C., Nuño, E. and Basañez, L., “Bilateral Teleoperaton of Cooperative Manipulators,” IEEE International Conference on Robotics and Automation, Minnesota, USA (2012) pp. 4274–4279.Google Scholar
Ciobanu, V., Popescu, N., Petrescu, A. and Noeseke, M., “Robot Telemanipulation System,” International Conference System Theory, Control and Computing, Sinaia, Romania (2013).Google Scholar
Sieber, D., Music, S. and Hirche, S., “Multi-Robot Manipulation Controlled by a Human with Haptic Feedback,” IEEE International Conference on Intelligent Robots and Systems, Hamburg, Germany (2015) pp. 2440–2446.Google Scholar
Music, S., Slavietti, G., Dohmann, P., Chinnello, F., Prattichizzo, D. and Hirche, S., “Robot Team Teleoperation for Cooperative Manipulating Using Wearable Haptics,” IEEE International Conference on Intelligent Robots and Systems, Vancouver, Canada (2017) pp. 2556–2563.Google Scholar
Slotine, J. J. and Spong, M., “Robust robot control with input bounded torques,” J. Robot. Syst. 2(4), 329–352 (1985).CrossRefGoogle Scholar
Dixon, W., de Queiroz, M., Zhang, F. and Dawson, D., “Tracking control of robot manipulators with bounded torque inputs,” Robotica 17(2), 121–129 (1999).CrossRefGoogle Scholar
Moreno-Valenzuela, J., Santibañez, V. and Campa, R., “On output feedback tracking control of robot manipulators with bounded torque input,” Int. J. Control Autom. Syst. 6(1), 76–85 (2008).Google Scholar
Lopez-Araujo, D., Loria, A. and Zavala-Rio, A., “Adaptive tracking control of Euler-Lagrange systems with bounded controls,” Int. J. Adap. Control Signal Process. 31(3), 299–313 (2017).CrossRefGoogle Scholar
Siciliano, B., Sciavicco, L., Villani, L. and Oriolo, G., Robotics: Modelling, Planning and Control (Springer, London, UK, 2009).CrossRefGoogle Scholar
Arimoto, S., Liu, Y. and Naniwa, T., “Model-Based Adaptive Hybrid Control for Geometrically Constrained Robots,” Proceedings IEEE International Conference on Robotics and Automation, Atlanta, USA, (1993) pp. 618–623.CrossRefGoogle Scholar
Rivera-Dueñas, J. C. and Arteaga-Pérez, M. A., “Robot force control without dynamic model: theory and experiments,” Robotica 31(1), 149–171 (2012).CrossRefGoogle Scholar
Arimoto, S., Liu, Y. and Naniwa, T., “Adaptive and nonadaptive hybrid controllers for rheonomically constrained manipulators,” Automatica 34(4), 483–491 (1998).Google Scholar
Howe, R. and Cutkosky, M., “Practical force-motion models for sliding manipulation,” Int. J. Robot. Res. 15(6), 557–572 (1996).CrossRefGoogle Scholar
Pliego-Jiménez, J. and Arteaga-Pérez, M. A., “Adaptive position-force control for robot manipulators in contact with a rigid surface with uncertain parameters”, Eur. J. Control 22 1–12 (2015).CrossRefGoogle Scholar
Kelly, R., Santibañez, V. and Loría, A., Control of Robot Manipulators in Joint Space (Springer, London, UK, 2015).Google Scholar
Gudiño-Lau, J. and Arteaga-Pérez, M. A., “Dynamic model and simulation of cooperative robots: A case of study,” Robotica 23(5), 615–624 (2005).CrossRefGoogle Scholar
Khalil, H. K., Nonlinear Systems (Prentice Hall, New Jersey, USA, 2002).Google Scholar
Gutiérrez-Giles, A. and Arteaga-Pérez, M. A., “GPI based velocity/force observer design for robot manipulators,” ISA Trans. 53(4), 929–938 (2014).CrossRefGoogle ScholarPubMed
Slotine, J. J. and Li, W., Applied Nonlinear Control (Prentice, New Jersey, USA, 1991).Google Scholar
Parra-Vega, V. and Hirzinger, G., “Chattering-free sliding mode control for a class of nonlinear mechanical systems,” Int. J. Robust Nonlin. Control 11(12), 1161–1178 (2001).CrossRefGoogle Scholar