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Projected predictive Energy-Bounding Approach for multiple degree-of-freedom haptic teleoperation

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  • Robot and Applications
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Abstract

This paper presents a geometrically and dynamically transparent projected predictive Energy-Bounding Approach (EBA) for multiple degree-of-freedom (m-DOF) haptic teleoperation with time delays. The straightforward extension of a single-DOF teleoperation to m-DOF teleoperation suffers from a bad force distortion problem that becomes worse with the increase in communication time delays between master and slave sites. Due to this, geometry perception of remote m-DOF objects at master site is severely deteriorated. To solve this problem, a projected predictive m-DOF EBA is proposed by combining the m-DOF Predictive EBA and the projection method that can compensate the force distortion problem. The proposed approach also includes steps to get stably the information about the contact locations (geometry) of m-DOF remote objects without geometry detection sensors. In order to validate the proposed approach, some experiments performing surface contour-following are conducted using two Phantoms: (i) 2-DOF object (bobbin), and (ii) 3-DOF semi-spherical object in the presence of large time delays.

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Abbreviations

F h :

Human operator applied force

F e :

Environment reaction force

F m :

Force input to the master device

F s :

Force input to the slave device

F mc :

Force from master controller

F sc :

Force from slave controller

F mEBA :

Force from master EBA

F pmEBA :

Force from predictive EBA

F md :

Delayed force feedback at master from slave side

F p :

Force obtained from predictor (SP loop)

x h :

Human operator position

x e :

Environment position

x m :

Master device position

x s :

Slave device position

e s :

Position error between x s and x sd

T 1 :

Forward time delay from master to slave side

T 2 :

Backward time delay from slave to master side

T :

Round trip time delay (RTT)

x sd :

Delayed master position at slave side

K e :

Environment Stiffness

i :

Orthogonal coordinate axis

K p & K d :

Proportional & Derivative (PD) controller gains

C m :

Low level master controller

C s :

Low level slave controller

EBA :

Energy-Bounding Algorithm

EBA m :

High level master controller based on EBA

EBA s :

High level slave controller based on EBA

β pm & γ pm :

Stably displayed stiffnesses of EBA m

max:

Subscript representing maximum value

min:

Subscript representing minimum value

C mr :

Combination of C m & EBA m

C sr :

Combination of C s & EBA s

c 1 :

Physical energy dissipation capability of device

c 2 :

Tuning parameter of EBA

G m :

Master device dynamics

G s :

Slave device dynamics

G p :

Plant dynamics (Slave + Environment dynamics)

Z e :

Environment Impedance

τ :

Sampling time

\(ZOH = \frac{{1 - {e^{ - s\tau }}}}{s}\) :

Zero-Order-Hold

single-DOF :

Single Degree-of-Freedom

m-DOF :

Multiple Degree-of-Freedom

WV :

Wave Variable

WP :

Wave Predictor

LQG :

Linear Quadratic Gaussian

SMC :

Sliding Mode Controller

MMT :

Model-Mediated Telemanipulation

MBP :

Model-Based Predictor

SP :

Smith Predictor

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Author information

Authors and Affiliations

  1. Human-Robotics Lab (HRL), School of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, Republic of Korea

    Riaz Uddin, Sangsoo Park, Sungjun Park & Jeha Ryu

Authors
  1. Riaz Uddin
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  2. Sangsoo Park
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  3. Sungjun Park
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  4. Jeha Ryu
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Corresponding author

Correspondence to Jeha Ryu.

Additional information

Recommended by Associate Editor Hongbo Li under the direction of Editor Fuchun Sun. This journal was supported by the Industrial fusion strategic technology development program funded by the Ministry of Trade, industry & Energy (MI, Korea) (10049003).

Riaz Uddin received his B.E. and M.E. degrees in Electrical Engineering from the Department of Electrical Engineering at NED University of Engineering and Technology, Karachi, Pakistan, in 2005 and 2008, respectively. He recently received his Ph.D. degree from the School of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, Korea, in 2016. He joined NED as a lecturer in 2005 and now he is working as an assistant professor in the department of Electrical Engineering in NED University of Engineering and Technology. His research interests include haptics, robotics, control systems, automation, and teleoperation.

Sangsoo Park received his B.S. degree from the Department of Biomedical Engineering at Chonbuk National University, Jeonju, Korea, in 2009. He is currently working toward a Ph.D. degree at the Department of Medical System Engineering, Gwangju Institute of Science and Technology (GIST), Gwangju, Korea. His research interests include haptics, robotics, and teleoperation.

Sungjun Park received his B.S. and M.S degrees from the Department of Mechanical and Automotive Engineering at Kookmin University, Seoul, Korea, and the Department of Mechatronics, Gwnagju Institute of Science and Technology (GIST) Gwangju, Korea, in 2007 and 2010, respectively. He is currently working toward a Ph.D. degree at the Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, Korea. His research interests teleoperation and robotics.

Jeha Ryu received his B.S., M.S. and Ph.D. degrees from Seoul National University, Seoul, Korea, Advanced Institute of Science and Technology (KAIST), Seoul, Korea and the University of Iowa, USA, in 1982, 1984, and 1991, respectively, all in Mechanical Engineering. He is currently a professor in the School of Mechatronics, GIST. Prof. Ryu is a member of IEEE, ASME, KSME, KSAE. More than 250 research articles and reports have been published and presented by him. His research interests include haptic interaction control, haptic modeling and rendering, haptic application for various multimedia systems and teleoperation.

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Uddin, R., Park, S., Park, S. et al. Projected predictive Energy-Bounding Approach for multiple degree-of-freedom haptic teleoperation. Int. J. Control Autom. Syst. 14, 1561–1571 (2016). https://doi.org/10.1007/s12555-014-0465-x

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