Forbidden region virtual fixture for nonlinear teleoperation systems with variable time delays

Author

Soleimani, M.A. ; Sharifi, I. ; Talebi, H.A. ; Suratgar, A.A. ; Koochaki, F.

Author_Institution

Dept. of Electr. Eng., Amirkabir Univ. of Technol. (Tehran Polytech.), Tehran, Iran

fYear

2014

fDate

15-17 Oct. 2014

Lastpage

100

Abstract

In this paper, the problem of stability and tracking performance of FRVF (Forbidden Region Virtual Fixture) for bilateral nonlinear teleoperation systems is studied in presence of varying time delay. It is proved that PD-like controllers can stabilize the teleoperation systems with FRVF in slave side and variable time delay in communication channels. It is also proved by proposed Lyapunov-Krasovskii´s function that the mentioned problem of stability and tracking performance of FRVF is satisfied. Finally, the proficiency of this approach is demonstrated by simulating the method on a pair of 6-DOF (Degree of Freedom) PHANToM Omni robots with nonlinear dynamics.

Keywords

Lyapunov methods; PD control; delays; force control; manipulators; nonlinear control systems; nonlinear dynamical systems; position control; stability; telerobotics; 6-DOF PHANToM Omni robots; FRVF; Lyapunov-Krasovskii function; PD-like controllers; bilateral nonlinear teleoperation systems; communication channels; forbidden region virtual fixture; nonlinear dynamics; slave side; stability; tracking performance; variable time delays; Communication channels; Delay effects; Delays; Fixtures; Force; Robots; Stability analysis; Virtual fixture; delayed tele-operation system; nonlinear teleoperation; variable delay;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on

Conference_Location

Tehran

Type

conf

DOI

10.1109/ICRoM.2014.6990883

Filename

6990883