Analysis and Design of Position-Force Teleoperation with Scattering Matrix
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Position (finance)
Matrix (chemical analysis)
Oscillation (cell signaling)
Bilateral teleoperation systems with haptic feedback allow human users to interact with objects or perform complex tasks in remote or inaccessible environments. Communication delays in teleoperation systems jeopardize system stability and transparency, leading to degraded system performance and poor user experience. In this paper, we provide a survey of the model-mediated teleoperation (MMT) approach, which has been developed to guarantee both system stability and transparency in the presence of arbitrary communication delays. This survey focuses on two major parts: 1) the historical development of the MMT approach from the late 1980s to the present and 2) the main challenges facing the design of a reliable MMT system. Along with the discussion of the MMT challenges and the proposed solutions, a series of experiments has been conducted to compare the performance between the existing techniques and to supply data that were missing in the previous studies on the MMT approach.
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This paper proposes a stable control structure for bilateral teleoperation of mobile robots. The proposed control structure includes a time-delay compensation placed on both the local and remote sites of the teleoperation system. Teleoperation experiments through a simulated and real (using Internet) communication channel are presented to illustrate the performance and stability of the proposed control structure.
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This paper proposes a novel kind of multi-operator multi-robot(MOMR) teleoperation systems - the competitive teleoperation system. Compared with the conventional collaborated MOMR teleoperation system, features and properties of the competitive teleoperation system are presented. Futhermore, major concerns of research and development for this kind of systems are discussed subsequently. Finally, telegame, a kind of Internet-based competitive teleoperation systems, is built as the prototype to support the future research on this aspect and some experimental results are presented to support the discussion.
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Teleoperation means operating a vehicle or a system remotely over a distance.Teleoperation extends human capabilities to perform tasks remotely by providing the operator withsimilar conditions as those at the remote location. Generally, operator should be supported inreal-time with an accurate data about the teleoperation environment. This paper proposes atime-delay compensation algorithm for environment construction to modify the well-developed BITAGV to be teleoperated. This Algorithm includes predicting the vehicle position in the future timeusing Model Predictive control (MPC). Then, environment is constructed according to this positionusing the Laser scanner. Real and simulation experiments are presented to illustrate the performanceand effectiveness of the algorithm in compensating time-delay for Teleoperation.
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This paper proposes a new criterion, called absolute transparency, to design control schemes applied to bilateral teleoperation of mobile robots with time-varying delay. The absolute transparency measures how and how fast the human operator and the remote system interact with each other through a teleoperation system. The absolute transparency of different control schemes is analyzed and tested through teleoperation experiments where a human operator drives a mobile robot and receives both visual and force feedback.
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Teleoperation has a long history in the robotics community and numerous bilateral teleoperation systems employing manipulators have been proposed in the literature. On the one hand, systems have been designed which employ commercial hardware and hence generally suffer from low update rates and high delays due to restrictions of commercial manipulator controllers and haptic device controllers. On the other hand, bilateral teleoperation systems designed by research institutions often provide only few degrees of freedom. Our 6DoF bilateral teleoperation system, however, combines the amenities of commercial hardware with a high performance distributed control architecture which enables us to achieve update rates of more than 2 kHz and delays in the range of only 100 ¿s. This paper focuses on the architecture of our system and demonstrates how to achieve this performance using commercial hardware. Moreover, we show why update rates of more than 1 kHz are essential for certain teleoperation tasks. Especially with high approach velocities and stiff environments, high update rates and low delays are key requirements for stability and thus for realistic haptic perception. We present experimental results demonstrating the influence of the update rate on system stability. These results not only highlight the benefits of high update rates but also give hints on how to estimate the update rate necessary to achieve stable teleoperation for a given environment stiffness.
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How to overcome the difficulties produced from large time-delay and limited bandwidth in the communication link, is one of the important issues for space telerobots. In this paper, we introduce the principle of teleoperation applying teleprogramming, which is expected to promote the stability and the accuracy of the teleoperation through large time delay. According to the segmentation of the operation space, we propose a teleoperation scheme that contains multiple methods. We illustrate the implementation of our experimental teleoperation system based on teleprogramming, and describe the experimental results.
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The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations.
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Passivity
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Teleoperation of autonomous mobile robots (AMR) is relevant in logistics operations to automate repetitive tasks that often result in injuries to the operator. This paper presents an overview of the systems involved in the current teleoperation scheme where these AMRs are present as well as some works and advances that have been done in the high-level teleoperation field.
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Task Analysis
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