In this paper, two controllers are proposed for bilateral teleoperation systems with communication time delay. The first one guarantees the tracking of slave-master outputs, while the second one guarantees the transparency. Communication time delay appears in the control loop of the second controller, and finite spectrum assignment method is used to design this controller such that the resultin...

This paper presents the development of a force control loop in a teleoperation system with master and slave robotic devices. The force control based on current control loop has been applied to a teleoperation open platform consisting on electric master device, hydraulic slave robot and equipment for data acquisition and control programming. This force control loop is applied in each master join...

We propose a novel control scheme for teleoperators consisting of a pair of multi-degree-of-freedom (DOF) nonlinear robotic systems under a constant communication time delay. By passifying the communication and control blocks together, the proposed control scheme guarantees energetic passivity of the closed-loop teleoperator in the presence of parametric uncertainty and a constant communication...

An interface based on inertial sensors with applications for master slave robotic teleoperation is developed. The interface is composed of two portable inertial sensor units which are placed on the upper and lower arm in order to obtain acceleration and turning rates. The data is internally processed by a DSP in the sensors and yields orientation measurements of the bodies they are attached. Th...

The potential for use of robotic systems in remote applications arenas has long motivated development of robust and stable means of teleoperated control of slave systems. However, telerobotic systems face challenges stemming from the devices themselves, environmental factors, communication and control complexities. To address these challenges, we will adopt the passivity based synchronization f...

This paper deals with the application of Iterative Learning Control (ILC) to further improve the performance of teleoperation systems based on Smith predictor. The goal is to achieve robust stability and optimal transparency for these systems. The proposed control structure make the slave manipulator follow the master in spite of uncertainties in time delay in communication channel and model pa...

In this paper, we analyze one of the main drawbacks of droop control-based DC microgrid systems, and propose a novel control method to overcome this problem. Typically, DC microgrid systems use droop control techniques to enable communication independency and expandability. However, as these advantages are based on bus quality and regulation abandonment, droop-based schemes have limitations in ...

In this paper, a passive bilateral control law is proposed for a teleoperator consisting of a pair of n-DOF nonlinear robotic systems. The control law ensures energetic passivity of the closed-loop teleoperator with power scaling, coordinates motions of the master and slave robots, and installs useful task-specific dynamics for inertia scaling, motion guidance and obstacle avoidance. Consequent...

This paper proposes a multi-terminal adaptive collaborative operation method for solving the problem of unstable internal force tracking in clamping and handling unknown objects by robots. In proposed method, command changes complex control into an from multi-slave to master. Moreover, we develop algorithm setups estimate object stiffness motion uncertainty direction according Lyapunov theory. ...

This paper presents an application–level QoS comparison of three inter–destination synchronization schemes: the master–slave destination scheme, the synchronization maestro scheme, and the distributed control scheme. The inter–destination synchronization adjusts the output timing among destinations in a multicast group for live audio and video streaming over the Internet/intranets. We compare t...