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Time Constant and Model-Free Signal Prediction in Communication Channel of Teleoperation System

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Mechatronics 2017 - Ideas for Industrial Applications (MECHATRONICS 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 934))

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Abstract

In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a model-free prediction in the communication channel by prediction blocks was presented. The prediction block was designed to minimize the effect of the transport delay in the communication channel of bilateral teleoperation system. The single prediction block has been a phase shifter with a specific behavior. The specific behavior of the prediction block is a strongly linear phase diagram in a useful frequency spectrum which allows the system to predict the manipulator motion and the force with a close to constant time shift. Another important feature is a gain of the block which is close to a unity when system operates in the useful frequency spectrum. The solution is an alternative to complex and mostly non-linear methods presented in the literature. The effectiveness of the method has been verified on the hydraulic manipulator test stand under control of many operators.

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Acknowledgment

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.

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Authors and Affiliations

  1. Institute of Mechanical Technology, West Pomeranian University of Technology, al. Piastów 19, 70-310, Szczecin, Poland

    Mateusz Saków, Arkadiusz Parus, Mirosław Pajor & Karol Miądlicki

Authors
  1. Mateusz Saków
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  2. Arkadiusz Parus
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  3. Mirosław Pajor
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  4. Karol Miądlicki
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Corresponding author

Correspondence to Mateusz Saków .

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Editors and Affiliations

  1. Faculty of Mechanical Engineering, Institute of Engineering Processes Automation and Integrated Manufacturing Systems, The Silesian University of Technology, Gliwice, Poland

    Jerzy Świder

  2. Faculty of Mechanical Engineering, Institute of Theoretical and Applied Mechanics, The Silesian University of Technology, Gliwice, Poland

    Sławomir Kciuk

  3. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Maciej Trojnacki

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Saków, M., Parus, A., Pajor, M., Miądlicki, K. (2019). Time Constant and Model-Free Signal Prediction in Communication Channel of Teleoperation System. 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_35

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  • DOI: https://doi.org/10.1007/978-3-030-15857-6_35

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-15856-9

  • Online ISBN: 978-3-030-15857-6

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