Summary
In this chapter we develop schemes for synchronization of bilateral teleoperators. It is well known that a feedback interconnection of two passive systems is passive. We discuss an extension of this property to the case when there are heterogeneous, constant communication delays in the interconnection. If the interconnected systems are output strictly passive, we show that their feedback interconnection is passive independent of the constant delays. We exploit this property to achieve delay-independent output synchronization. This result is then used in the problem of bilateral teleoperation to synchronize the master/slave velocities in free motion. We also develop an architecture that guarantees state synchronization of the master/slave robots in free motion independent of the constant delay. Experimental results are presented to verify the efficacy of the state-synchronizing architecture.
This research was partially supported by the Office of Naval Research under Grant N00014-02-1-0011, N00014-05-1-0186, and by the National Science Foundation under Grants ECS-0122412 and INT-0128656.
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
Preview
Unable to display preview. Download preview PDF.
References
P.F. Hokayem and M.W. Spong. Bilateral teleoperation: an historical survey. Automatica, 42(12):2035–2057, 2006.
R.J. Anderson and M.W. Spong. Bilateral control of teleoperators with time delay. IEEE Transactions on Automatic Control, 34(5):494–501, 1989.
G. Niemeyer and J.J.E. Slotine. Stable adaptive teleoperation. IEEE Journal of Oceanic Engineering, 16(1):152–162, 1991.
N. Chopra, M.W. Spong, S. Hirche, and M. Buss. Bilateral teleoperation over the internet: the time varying delay problem. In American Control Conference, pages 155–160, 2003.
N. Chopra, M.W. Spong, and R. Lozano. Adaptive coordination control of bilateral teleoperators with time delay. In IEEE Conf. on Decision and Control, pages 4540–4547, 2004.
N. Chopra, M.W. Spong, R. Ortega, and N.E. Barabanov. On tracking performance in bilateral teleoperation. IEEE Transactions on Robotics, 22(4):861–866, 2006.
S. Munir. Internet-based tele-operation. PhD thesis, Department of Mechanical Engineering, Georgia Institute of Technology, 2001.
K. Kosuge, H. Murayama, and K. Takeo. Bilateral feedback control of telemanipulators via computer network. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1380–1385, 1996.
D.J. Lee and M.W. Spong. Passive bilateral control of teleoperators under constant time delay. IEEE Transactions on Robotics, 22(2):269–281, 2006.
R. Lozano, N. Chopra, and M.W. Spong. Passivation of force reflecting bilateral teleoperation with time varying delay. In Mechatronics’02, Entschede, Netherlands, 2002.
G. Niemeyer and J.J.E. Slotine. Towards force-reflecting teleoperation over the internet. In IEEE Conference on Robotics and Automation, pages 1909–1915, 1998.
S. Stramigioli, A.V.D. Schaft, B. Maschke, and C. Melchiorri. Geometric scattering in robotic telemanipulation. IEEE Transactions on Robotics and Automation, 18(4):588–596, 2002.
R. Lozano, B. Brogliato, O. Egeland, and B. Maschke. Dissipative Systems Analysis and Control: Theory and Applications. Springer-Verlag, London, 2000.
R. Sepulchre, M. Janković, and P. Kokotović. Constructive Nonlinear Control. Springer-Verlag, London, 1997.
H.K. Khalil. Nonlinear systems. In Upper Saddle River. Prentice Hall, New Jersey, 2002.
P.J. Moylan. A connective stability result for interconnected passive systems. IEEE Transactions on Automatic Control, 25:812–813, 1980.
R.M. Lewis and B.D.O. Anderson. Necessary and sufficient conditions for delayindependent stability of linear autonomous systems. IEEE Transactions on Automatic Control, 25:735–739, 1980.
A.Y. Pogromsky. Passivity based design of synchronizing systems. International Journal of Bifurcation and Chaos, 8:295–319, 1998.
N. Chopra and M.W. Spong. Passivity-based control of multi-agent systems. In Sadao Kawamura and Mikhail Svinin, editors, Advances in Robot Control: From Everyday Physics to Human-Like Movements, pages 107–134. Springer Verlag, 2006.
M.W. Spong, S. Hutchinson, and M. Vidyasagar. Robot Modeling and Control. John Wiley & Sons, Inc., New York, 2006.
N. Chopra, M.W. Spong, and R. Lozano. Synchronization of bilateral teleoperators with time delay. Submitted, 2006.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Chopra, N., Spong, M.W. (2007). Adaptive Synchronization of Bilateral Teleoperators with Time Delay. In: Ferre, M., Buss, M., Aracil, R., Melchiorri, C., Balaguer, C. (eds) Advances in Telerobotics. Springer Tracts in Advanced Robotics, vol 31. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71364-7_16
Download citation
DOI: https://doi.org/10.1007/978-3-540-71364-7_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-71363-0
Online ISBN: 978-3-540-71364-7
eBook Packages: EngineeringEngineering (R0)