Passivity-based teleoperation system for robots with parametric uncertainty and communication delay

Yen Chen Liu; Mun Hooi Khong

doi:10.1109/CoASE.2014.6899337

Passivity-based teleoperation system for robots with parametric uncertainty and communication delay

Yen Chen Liu, Mun Hooi Khong

Department of Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

3 Citations (Scopus)

Abstract

Teleoperation systems developed in joint-space or task-space without taking into account parameter uncertainties impede the application of such framework on automation and manufacturing system. In this paper, a passivity-based control framework is proposed to accomplish teleoperation in the presence of unknown parameters and communication delays. First, we demonstrate that based on the addressed adaptive laws, the individual closed-loop robotic systems are passive. A passive coordination control is then utilized to ensure the position and velocity tracking between the local and remote robots. The interconnected system is proven to be stable, and experimental results are presented to verify the efficacy of the proposed control algorithms.

Original language	English
Article number	6899337
Pages (from-to)	271-276
Number of pages	6
Journal	IEEE International Conference on Automation Science and Engineering
Volume	2014-January
DOIs	https://doi.org/10.1109/CoASE.2014.6899337
Publication status	Published - 2014
Event	2014 IEEE International Conference on Automation Science and Engineering, CASE 2014 - Taipei, Taiwan Duration: 2014 Aug 18 → 2014 Aug 22

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/CoASE.2014.6899337

Cite this

@article{53f81fa051894f5f96a38c5ad207e0d5,

title = "Passivity-based teleoperation system for robots with parametric uncertainty and communication delay",

abstract = "Teleoperation systems developed in joint-space or task-space without taking into account parameter uncertainties impede the application of such framework on automation and manufacturing system. In this paper, a passivity-based control framework is proposed to accomplish teleoperation in the presence of unknown parameters and communication delays. First, we demonstrate that based on the addressed adaptive laws, the individual closed-loop robotic systems are passive. A passive coordination control is then utilized to ensure the position and velocity tracking between the local and remote robots. The interconnected system is proven to be stable, and experimental results are presented to verify the efficacy of the proposed control algorithms.",

author = "Liu, {Yen Chen} and Khong, {Mun Hooi}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Automation Science and Engineering, CASE 2014 ; Conference date: 18-08-2014 Through 22-08-2014",

year = "2014",

doi = "10.1109/CoASE.2014.6899337",

language = "English",

volume = "2014-January",

pages = "271--276",

journal = "IEEE International Conference on Automation Science and Engineering",

issn = "2161-8070",

publisher = "IEEE Computer Society",

}

TY - JOUR

T1 - Passivity-based teleoperation system for robots with parametric uncertainty and communication delay

AU - Liu, Yen Chen

AU - Khong, Mun Hooi

PY - 2014

Y1 - 2014

N2 - Teleoperation systems developed in joint-space or task-space without taking into account parameter uncertainties impede the application of such framework on automation and manufacturing system. In this paper, a passivity-based control framework is proposed to accomplish teleoperation in the presence of unknown parameters and communication delays. First, we demonstrate that based on the addressed adaptive laws, the individual closed-loop robotic systems are passive. A passive coordination control is then utilized to ensure the position and velocity tracking between the local and remote robots. The interconnected system is proven to be stable, and experimental results are presented to verify the efficacy of the proposed control algorithms.

AB - Teleoperation systems developed in joint-space or task-space without taking into account parameter uncertainties impede the application of such framework on automation and manufacturing system. In this paper, a passivity-based control framework is proposed to accomplish teleoperation in the presence of unknown parameters and communication delays. First, we demonstrate that based on the addressed adaptive laws, the individual closed-loop robotic systems are passive. A passive coordination control is then utilized to ensure the position and velocity tracking between the local and remote robots. The interconnected system is proven to be stable, and experimental results are presented to verify the efficacy of the proposed control algorithms.

UR - http://www.scopus.com/inward/record.url?scp=84939781786&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84939781786&partnerID=8YFLogxK

U2 - 10.1109/CoASE.2014.6899337

DO - 10.1109/CoASE.2014.6899337

M3 - Conference article

AN - SCOPUS:84939781786

SN - 2161-8070

VL - 2014-January

SP - 271

EP - 276

JO - IEEE International Conference on Automation Science and Engineering

JF - IEEE International Conference on Automation Science and Engineering

M1 - 6899337

T2 - 2014 IEEE International Conference on Automation Science and Engineering, CASE 2014

Y2 - 18 August 2014 through 22 August 2014

ER -

Passivity-based teleoperation system for robots with parametric uncertainty and communication delay

Abstract

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this