NDLI: Compensating position drift in Time Domain Passivity Approach based teleoperation

Content Provider	IEEE Xplore Digital Library
Author	Chawda, V. Ha Van Quang O'Malley, M.K. Jee-Hwan Ryu
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Rice Univ., Houston, TX, USA (Chawda, V.; O'Malley, M.K.) \|\| Sch. of Mech. Eng., Korea Univ. of Technol. & Educ., Cheonan, South Korea (Ha Van Quang; Jee-Hwan Ryu)
Abstract	Passivity based approaches to bilateral teleoperation control ensure robust stability against disruptive effects of communication delays. These approaches, while achieving velocity tracking, cannot guarantee position tracking in general. Recently, the Time Domain Passivity Approach (TDPA) has been gaining interest in field of bilateral teleoperation due to its simplicity, ease of implementation, robustness to communication delays, and adaptive control design which promises less conservative performance than frequency domain passivity approaches. Several techniques have been proposed to counter the position drift with conventional passivity based approaches, but not much work has been done to address the problem of position drift with TDPA based control of teleoperation. We propose a novel position drift compensation architecture employing a virtual dependent energy source which leverages the passivity margins allowed by the communication channel to inject energy and recover position tracking without compromising system passivity. A drift compensation scheme is developed within this architecture that ensures synchronization of master and slave robot trajectories. The proposed method is generalizable to all bilateral teleoperation control architectures, and is robust against different communication delay and remote environment conditions. Experiments are conducted to validate the efficacy of the approach, and demonstrate position tracking with up to 1000 ms round-trip delays in free space motion and hard wall contact scenarios.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	195
Ending Page	202
File Size	3060158
Page Count	8
File Format	PDF
ISBN	9781479931316
ISSN	23247355
DOI	10.1109/HAPTICS.2014.6775454
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-02-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delays Ports (Computers) Communication channels Force Educational institutions Observers Time-domain analysis
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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