Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot

Reza Seifabadi; Seyed Mehdi Rezaei; Saeed Shiry; Mozafar Saadat; Mohammad Zarei-Nejad; Kamran Razi; Hossein Habibollahi

doi:10.1007/978-3-540-69057-3_9

Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot

Reza Seifabadi^*, Seyed Mehdi Rezaei, Saeed Shiry, Mozafar Saadat, Mohammad Zarei-Nejad, Kamran Razi, Hossein Habibollahi

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hysteresis loop to cancel out this undesirable term. A 2-DOF master-slave system is decomposed into two 1-DOF systems: a shape system representing the master-slave position coordination, and a locked system representing the dynamics of the coordinated system. For making the closed-loop teleoperation system passive against dynamic parameter uncertainty and force measurement inaccuracy, four virtual flywheels are designed. In this way, the energy generated by troublesome terms inside controllers (i.e. the terms which may endanger passivity of the controller) would be taken from the bounded kinetic energy deposited on these flywheels. Simulations are performed to show effectiveness of the proposed controllers.

Original language	English
Title of host publication	Haptics
Subtitle of host publication	Perception, Devices and Scenarios - 6th International Conference, EuroHaptics 2008, Proceedings
Publisher	Springer Verlag
Pages	83-93
Number of pages	11
ISBN (Print)	3540690565, 9783540690566
DOIs	https://doi.org/10.1007/978-3-540-69057-3_9
Publication status	Published - 2008
Event	6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008 - Madrid, Spain Duration: 10 Jun 2008 → 13 Jun 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	5024 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008
Country/Territory	Spain
City	Madrid
Period	10/06/08 → 13/06/08

Keywords

decomposition
Hysteresis
LuGre model
macro-micro telemanipulation
robust passivity
scaling
shape and locked system
virtual flywheel

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-540-69057-3_9

Cite this

Seifabadi, R., Rezaei, S. M., Shiry, S., Saadat, M., Zarei-Nejad, M., Razi, K., & Habibollahi, H. (2008). Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot. In Haptics: Perception, Devices and Scenarios - 6th International Conference, EuroHaptics 2008, Proceedings (pp. 83-93). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5024 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-540-69057-3_9

Seifabadi, Reza ; Rezaei, Seyed Mehdi ; Shiry, Saeed et al. / Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot. Haptics: Perception, Devices and Scenarios - 6th International Conference, EuroHaptics 2008, Proceedings. Springer Verlag, 2008. pp. 83-93 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot",

abstract = "The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hysteresis loop to cancel out this undesirable term. A 2-DOF master-slave system is decomposed into two 1-DOF systems: a shape system representing the master-slave position coordination, and a locked system representing the dynamics of the coordinated system. For making the closed-loop teleoperation system passive against dynamic parameter uncertainty and force measurement inaccuracy, four virtual flywheels are designed. In this way, the energy generated by troublesome terms inside controllers (i.e. the terms which may endanger passivity of the controller) would be taken from the bounded kinetic energy deposited on these flywheels. Simulations are performed to show effectiveness of the proposed controllers.",

keywords = "decomposition, Hysteresis, LuGre model, macro-micro telemanipulation, robust passivity, scaling, shape and locked system, virtual flywheel",

author = "Reza Seifabadi and Rezaei, {Seyed Mehdi} and Saeed Shiry and Mozafar Saadat and Mohammad Zarei-Nejad and Kamran Razi and Hossein Habibollahi",

year = "2008",

doi = "10.1007/978-3-540-69057-3_9",

language = "English",

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Seifabadi, R, Rezaei, SM, Shiry, S, Saadat, M, Zarei-Nejad, M, Razi, K & Habibollahi, H 2008, Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot. in Haptics: Perception, Devices and Scenarios - 6th International Conference, EuroHaptics 2008, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5024 LNCS, Springer Verlag, pp. 83-93, 6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008, Madrid, Spain, 10/06/08. https://doi.org/10.1007/978-3-540-69057-3_9

Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot. / Seifabadi, Reza; Rezaei, Seyed Mehdi; Shiry, Saeed et al.
Haptics: Perception, Devices and Scenarios - 6th International Conference, EuroHaptics 2008, Proceedings. Springer Verlag, 2008. p. 83-93 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5024 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot

AU - Seifabadi, Reza

AU - Rezaei, Seyed Mehdi

AU - Shiry, Saeed

AU - Saadat, Mozafar

AU - Zarei-Nejad, Mohammad

AU - Razi, Kamran

AU - Habibollahi, Hossein

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N2 - The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hysteresis loop to cancel out this undesirable term. A 2-DOF master-slave system is decomposed into two 1-DOF systems: a shape system representing the master-slave position coordination, and a locked system representing the dynamics of the coordinated system. For making the closed-loop teleoperation system passive against dynamic parameter uncertainty and force measurement inaccuracy, four virtual flywheels are designed. In this way, the energy generated by troublesome terms inside controllers (i.e. the terms which may endanger passivity of the controller) would be taken from the bounded kinetic energy deposited on these flywheels. Simulations are performed to show effectiveness of the proposed controllers.

AB - The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hysteresis loop to cancel out this undesirable term. A 2-DOF master-slave system is decomposed into two 1-DOF systems: a shape system representing the master-slave position coordination, and a locked system representing the dynamics of the coordinated system. For making the closed-loop teleoperation system passive against dynamic parameter uncertainty and force measurement inaccuracy, four virtual flywheels are designed. In this way, the energy generated by troublesome terms inside controllers (i.e. the terms which may endanger passivity of the controller) would be taken from the bounded kinetic energy deposited on these flywheels. Simulations are performed to show effectiveness of the proposed controllers.

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KW - robust passivity

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KW - shape and locked system

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SN - 3540690565

SN - 9783540690566

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 83

EP - 93

BT - Haptics

PB - Springer Verlag

T2 - 6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008

Y2 - 10 June 2008 through 13 June 2008

ER -

Seifabadi R, Rezaei SM, Shiry S, Saadat M, Zarei-Nejad M, Razi K et al. Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot. In Haptics: Perception, Devices and Scenarios - 6th International Conference, EuroHaptics 2008, Proceedings. Springer Verlag. 2008. p. 83-93. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-540-69057-3_9

Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot

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Keywords

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