Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation

Singh, Harsimran; Jafari, Aghil; Ryu, Jee Hwan; Peer, Angelika

Abstract

© 2018 IEEE. Enhancing transparency of a teleoperation system by increasing the command-following bandwidth has not received lots of attention so far. This is considered a challenging task since in a teleoperation system the command-following bandwidth of the slave robot motion controller cannot be increased with a conventional motion controller as the desired trajectory is instantaneously commanded by the human user and thus, cannot be considered to be given in a pre-computed, smooth second order derivative form. We propose a method to increase the command-following bandwidth by extending the previously introduced Successive Stiffness Increment (SSI) approach to bilateral teleoperation. The approach allows realizing a very high motion controller gain, which cannot be realized with a conventional bilateral teleoperation controller as confirmed by experimental results.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
• Start Date: Oct 1, 2018
• End Date: Oct 5, 2018
• Acceptance Date: Jun 29, 2018
• Online Publication Date: Jan 7, 2019
• Publication Date: Dec 27, 2018
• Deposit Date: Aug 6, 2018
• Publicly Available Date: Feb 20, 2019
• Journal: IEEE International Conference on Intelligent Robots and Systems
• Print ISSN: 2153-0866
• Electronic ISSN: 2153-0866
• Peer Reviewed: Peer Reviewed
• Pages: 4972-4979
• ISBN: 9781538680940
• DOI: https://doi.org/10.1109/IROS.2018.8593866
• Keywords: bilateral teleoperation, stability, control, robotics
• Public URL: https://uwe-repository.worktribe.com/output/859053
• Publisher URL: http://dx.doi.org/10.1109/IROS.2018.8593866
• Additional Information: Additional Information : (c) 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.; Title of Conference or Conference Proceedings : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
• Contract Date: Aug 6, 2018