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Position and force tracking in nonlinear teleoperation systems under varying delays

Published online by Cambridge University Press:  24 March 2014

Farzad Hashemzadeh  and
Mahdi Tavakoli
Farzad Hashemzadeh*
Affiliation:
Control Engineering Department, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta T6G 2V4, Canada
Mahdi Tavakoli
Affiliation:
Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta T6G 2V4, Canada
*
*Corresponding author. E-mail: farzad.hashemzadeh@ualberta.ca
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Summary

In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov–Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.

Keywords

Nonlinear teleoperationTime-varying time delayLyapunov–Krasovskii functionalForce and position tracking
Type
Articles
Information
Robotica , Volume 33 , Issue 4 , May 2015 , pp. 1003 - 1016
Copyright
Copyright © Cambridge University Press 2014 

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Hashemzadeh and Tavakoli Supplementary Material

The video clip shows experimental setup with gravity compensation on free-motion and contact-motion test of two PHANToM Premium 1.5A robots in teleoperation. To show the performances of the proposed method, the master and slave positions and the operator and environment forces are plotted in synchrony with the free-motion or contact-motion tests.

Download Hashemzadeh and Tavakoli Supplementary Material(Video)
Video 54.7 MB