This paper proposes a novel robust controller design for bilateral teleoperation systems using μ synthesis based on an inspired algorithm namely particle swarm optimization with time-varying acceleration coefficients. In the proposed structure, the μ synthesis problem is considered as a constraint optimization problem. Indeed, this technique proposes a novel alternative solution for solving the...

In this paper, new control strategies based on Linear Matrix Inequalities (LMIs) are proposed for bilateral teleoperation systems over networks with time delays and packet losses. The characteristics of the network are thoroughly incorporated in the design and are mainly discussed in two cases: random packet loss with constant time delays; and random packet loss with random time varying delays....

Today's Internet technology provides a convenient way for us to develop an integrated network environment for the diversified applications of different robotic systems. To be successful in real-world applications, Internet-based robots require a high degree of autonomy and local intelligence to deal with the restricted bandwidth and arbitrary transmission delay of the Internet. This paper descr...

Impedance control is used to control the relationship between the applied forces and the position of the manipulator when it interacts with the environment. In bilateral teleoperation systems, communication time delay could make the system unstable and certainly degrade the operator’s intuition and performance. In this paper, a scheme for impedance control of bilateral teleoperation systems in ...

A teleoperation system allows the human to manipulate in remote/inaccessible/dangerous or scaled environments. From a control point of view, the haptic control loop, where motion and force data are exchanged between the master and the slave manipulator, is very challenging as it is closed over a communication network, e.g. the Internet. The communication network introduces unreliabilities such ...

Control system designers nowadays have a wide selection of teleoperation architectures to configure their systems. Regardless of the architecture, if the process requires application of forces to the outer media, monitoring these forces are necessary as well as the motion of the manipulator. Most of the time, customary control strategies fail when both the position and the force trajectories ar...

Hydraulic machines have been widely used in a variety of high power applications. Typically these machines are operated by an operator. In past research the interaction safety between the operator and the machine was seldom investigated. This dissertation addressess the interaction stability issue by exploiting the safety guarantees offered by passive systems. The hydraulic machine considered i...

This paper addresses the problem that, the discretization of stabilizing the continuous bilateral teleoperation controllers for digital implementation may lead to instable teleoperation or poor performance. With this problem, a discrete approach for the novel proxy teleoperation control scheme under time-varying delays is considered in the paper. The principle results involve sufficient conditi...

Experiments were performed with the NASA Robonaut to determine if manifold learning could discern successful and unsuccessful teleoperation trials in an unsupervised manner. Repeated teleoperation of drill-mating and chisel-pickup tasks were performed by a skilled teleoperator. Spatio-temporal Isomap (STI) was used to embed data from the robot’s sensory-motor state-space (SMSS) to uncover under...