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Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach

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Abstract

This paper presents an energy-bounding approach for robustly stable bilateral teleoperation over a communication channel with severe variable time delays and packet drops. We extend the energy-bounding algorithm (EBA) for haptic interaction with virtual environments to bilateral teleoperation with remote environments by using an analogy between haptic interaction and teleoperation controls. Robust stability is achieved by both restricting the extra energy that is generated by the sample-and-hold to within the consumable energy in the master device or slave robot and passifying the communication network. Theoretical analyses of transparency are performed for both position and force tracking aspects. Comprehensive test results for various free and contact motions subsequently show that the proposed bilateral EBA can ensure robust stability against fairy large constant/variable round trip time delays (tested for up to 5 sec for free motion and 600 msec for contact motion within the device workspace) as well as for packet losses of up to 90 % during data transmission.

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Authors and Affiliations

  1. School of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, 500-712, Korea

    Changhoon Seo, Jaeha Kim, Hyo-Sung Ahn & Jeha Ryu

  2. Korea Institute of Science and Technology, Seoul, 136-791, Korea

    Jong-Phil Kim

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  1. Changhoon Seo
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  2. Jong-Phil Kim
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  3. Jaeha Kim
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  4. Hyo-Sung Ahn
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  5. Jeha Ryu
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Correspondence to Jeha Ryu.

Additional information

This paper was recommended for publication in revised form by Associate Editor Won Gu Lee

Changhoon Seo received his B.S. degree in Electronics and Electrical Engineering from Pusan National University (PNU), Busan, Korea in 2003, and M.S. degree in Department of Mechatronics from the Gwangju Institute of Science and Technology (GIST), Gwangju, Korea in 2005. His research interests include haptic interaction control and bilateral teleoperation control, and haptic interfaces.

Jong-Phil Kim received his B.S. degree in Mechanical Engineering in 1998 from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, and M.S. and Ph.D. degrees in Department of Mechatronics from the Gwangju Institute of Science and Technology (GIST), Gwangju, Korea, in 2000 and 2007, respectively. He is currently a post-doctoral research fellow in the Image Media Research Center at the Korea Institute of Science and Technology (KIST). His research interests include haptics, robotics, and teleoperation.

Jaeha Kim received his BS degree in Mechanical & Control Engineering from Handong Global University, Pohang, North Gyeongsang province, Korea in 2006, and MS degree in Department of Mechatronics from the Gwangju Institute of Science and Technology (GIST), Gwangju, Korea in 2008. His research interests include stability control of haptic interaction systems and haptic rendering.

Hyo-Sung Ahn received the B.S. and M.S. degrees from Yonsei University, Seoul, Korea in 1998 and 2000, respectively, the M.S. degree in electrical engineering from the University of North Dakota, Grand Forks, in 2003, and the Ph.D. degree in electrical engineering from Utah State University, Logan, in 2006. Since July 2007, he has been an Assistant Professor in the School of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, Korea. Before joining GIST, he was a Senior Researcher with the Electronics and Telecommunications Research Institute, Daejeon, Korea. He is the author of the research monograph Iterative Learning Control: Robustness and Monotonic Convergence for Interval Systems (Springer-Verlag, 2007). His research interests include control systems, autonomous systems, and aerospace navigation and control.

Jeha Ryu received his B.S. (1982), M.S. (1984) and Ph.D. (1991) degrees from Seoul National University, Seoul, Korea, Advanced Institute of Science and Technology (KAIST), Daejeon, Korea and the University of Iowa, USA, respectively, in Mechanical Engineering. He is a professor in the School of Mechatronics, GIST and a member of ASME, KSME, KSAE, and IEEE. More than 120 of his research articles and reports have been published. His research interests include haptic interaction control, haptic modeling and rendering, haptic application for various multimedia systems and teleoperation.

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Seo, C., Kim, JP., Kim, J. et al. Robustly stable bilateral teleoperation under time-varying delays and data losses: an energy-bounding approach. J Mech Sci Technol 25, 2089–2100 (2011). https://doi.org/10.1007/s12206-011-0523-8

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  • DOI: https://doi.org/10.1007/s12206-011-0523-8

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