Robust collaboration of a haptically-enabled double-slave teleoperation system under random communication delays
File(s)
Accepted version
Author(s)
Type
Conference Paper
Abstract
Communication delays are known to create stability and performance issues in multilateral teleoperation systems. Multilateral teleoperation configurations usually include more than two communication channels, which can become problematic for robot control when limitations in network bandwidth results in delays and uncertainties in data transmission routes. This study develops a sliding surface based on the synchronization errors characterized between each sides of the considered multilateral teleoperation system. Here, two slave robots receive commands from the master system to cooperatively execute the desired teleoperation task in the remote, shared workspace. Lyapunov stability analysis approach guarantees the performance of the proposed controller. Moreover, the effectiveness of the controller is experimentally evaluated through a real-world Internet-based double-slave teleoperation system.
Date Issued
2020-10-10
Date Acceptance
2020-09-01
Citation
2020 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2020, pp.2919-2924
ISSN
1062-922X
Publisher
IEEE
Start Page
2919
End Page
2924
Journal / Book Title
2020 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)
Copyright Statement
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works.
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000687430602146&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Source
IEEE International Conference on Systems, Man, and Cybernetics (SMC)
Subjects
Science & Technology
Technology
Computer Science, Cybernetics
Computer Science, Information Systems
Computer Science
Haptics
multi-robot
teleoperation
time-delay
ROBOTS
Publication Status
Published
Start Date
2020-10-11
Finish Date
2020-10-14
Coverage Spatial
Toronto, ON, Canada
Date Publish Online
2020-10-10