Abstract
In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a prediction of an input and an output of a non-linear inverse model by prediction blocks was presented. As a part of the paper a method of a time constant estimation of the prediction block was also presented. The prediction method of an input and an output of an inverse model was designed to minimize the effect of the transport delay and the phase shift of sensors, actuators and mechanical objects. The solution is an alternative to complex non-linear models like artificial neural networks, which requires complex stability analysis and control systems with a high computing power. The effectiveness of the method has been verified on the hydraulic manipulator test stand.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Miądlicki, K., Pajor, M.: Overview of user interfaces used in load lifting devices. Int. J. Sci. Eng. Res. 6(9), 1215–1220 (2015)
Ferrell, W.R.: Delayed force feedback. Hum. Fact.: J. Hum. Fact. Ergon. Soc. 8(5), 449–455 (1966)
Sheridan, T.B., Ferrell, W.R.: Human control of remote computer-manipulators. In: Proceedings of the 1st International Joint Conference on Artificial Intelligence, pp. 483–494. Morgan Kaufmann Publishers Inc., Washington, DC (1969)
Moreau, R., et al.: Sliding-mode bilateral teleoperation control design for master–slave pneumatic servo systems. Control Eng. Pract. 20(6), 584–597 (2012)
Chang, M.-K.: An adaptive self-organizing fuzzy sliding mode controller for a 2-DOF rehabilitation robot actuated by pneumatic muscle actuators. Control Eng. Pract. 18(1), 13–22 (2010)
Polushin, I.G., Takhmar, A., Patel, R.V.: Projection-based force-reflection algorithms with frequency separation for bilateral teleoperation. IEEE/ASME Trans. Mechatron. 20(1), 143–154 (2015)
Hulin, T., Albu-Schäffer, A., Hirzinger, G.: Passivity and stability boundaries for haptic systems with time delay. IEEE Trans. Control Syst. Technol. 22(4), 1297–1309 (2014)
Tadano, K., Kawashima, K.: Development of 4-DOFs forceps with force sensing using pneumatic servo system. In: Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, USA (2006)
Zhai, D.H., Xia, Y.: Adaptive control of semi-autonomous teleoperation system with asymmetric time-varying delays and input uncertainties. IEEE Trans. Cybern. 47, 3621–3633 (2017)
Saków, M., Pajor, M., Parus, A.: Estimation of environmental forces impact on remote control system with force-feedback and upper limb kinematics. Modelowanie Inzynierskie 58, 113–122 (2016). (in Polish)
Saków, M., Parus, A.: Sensorless control scheme for teleoperation with force-feedback, based on a hydraulic servo-mechanism, theory and experiment. Meas. Autom. Monit. 62(12), 417–425 (2016)
Saków, M., Miądlicki, K., Parus, A.: Self-sensing teleoperation system based on 1-DoF pneumatic manipulator. J. Autom. Mob. Robot. Intell. Syst. 11(1), 64–76 (2017)
Zhou, M., Ben-Tzvi, P.: RML glove - an exoskeleton glove mechanism with haptics feedback. IEEE/ASME Trans. Mechatron. 20(2), 641–652 (2015)
Miądlicki, K., Pajor, M.: Real-time gesture control of a CNC machine tool with the use Microsoft Kinect sensor. Int. J. Sci. Eng. Res. 6(9), 538–543 (2015)
Pajor, M., Miądlicki, K., Saków, M.: Kinect sensor implementation in FANUC robot manipulation. Arch. Mech. Technol. Autom. 34(3), 35–44 (2014)
Stuart, K.D., Majewski, M., Trelis, A.B.: Intelligent semantic-based system for corpus analysis through hybrid probabilistic neural networks. In: International Symposium on Neural Networks. Springer, Heidelberg (2011)
Stuart, K.D., Majewski, M.: Intelligent opinion mining and sentiment analysis using artificial neural networks. In: International Conference on Neural Information Processing. Springer, Istanbul (2015)
Kim, W.S., Hannaford, B., Fejczy, A.K.: Force-reflection and shared compliant control in operating telemanipulators with time delay. IEEE Trans. Robot. Autom. 8(2), 176–185 (1992)
Hyun Chul, C., et al.: Sliding-mode-based impedance controller for bilateral teleoperation under varying time-delay. In: IEEE International Conference on Robotics and Automation, Proceedings 2001 ICRA, Seoul, South Korea (2001)
Ge, X., et al.: Analysis of a model-free predictor for delay compensation in networked systems. In: Time Delay Systems, pp. 201–215. Springer, Heidelberg (2017)
Kaya, I.: Obtaining controller parameters for a new PI-PD Smith predictor using autotuning. J. Process Control 13(5), 465–472 (2003)
Acknowledgments
The work was carried out as part of the PBS3/A6/28/2015 project, “The use of augmented reality, interactive voice systems and operator interface to control a crane”, financed by NCBiR.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Saków, M., Parus, A., Pajor, M., Miądlicki, K. (2019). Sensor-Less Bilateral Teleoperation System Based on Non Linear Inverse Modelling with Signal Prediction. In: Świder, J., Kciuk, S., Trojnacki, M. (eds) Mechatronics 2017 - Ideas for Industrial Applications. MECHATRONICS 2017. Advances in Intelligent Systems and Computing, vol 934. Springer, Cham. https://doi.org/10.1007/978-3-030-15857-6_34
Download citation
DOI: https://doi.org/10.1007/978-3-030-15857-6_34
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-15856-9
Online ISBN: 978-3-030-15857-6
eBook Packages: EngineeringEngineering (R0)