NDLI: Energy consumption perspective of bilateral control architectures

Content Provider	IEEE Xplore Digital Library
Author	Sekhar Pagala, P. Suarez-Ruiz, F. Ferre, M.
Copyright Year	2013
Description	Author affiliation: Centro de Autom. y Robot., Univ. Politec. de Madrid, Madrid, Spain (Sekhar Pagala, P.; Suarez-Ruiz, F.; Ferre, M.)
Abstract	Recent advancements in different fields such as computing technologies and fast communication channels has lead to increased interest in master-slave systems and their various applications for teleoperation field. When investigating master-slave systems, the general approach points towards better performance, where major concerns are stability and transparency of the system. This has lead to a large amount of different control schemes that intend to optimise only these aspects. This paper presents a different strategy that focus on the energy consumption perspective across some of the most common bilateral architectures proposed in the literature. In particular, special attention to the slave subsystem is paid since new applications are emerging for mobile platforms but are restricted in autonomy, due to the limited battery power of the system. In this paper a halt and switch process between the bilateral control architectures has been implemented where the goal is to increase the system performance while intending to minimise power consumption. This work can be extended for fault detection and failure prediction during preventive maintenance. The results presented can also be extended to fixed slave arms to reduce their energy demand footprint. The study is done using a 1 degree of freedom (DOF) Master-Slave test bed but the results and conclusions herein presented are applicable to more complex robot systems with multiple DOF.
Starting Page	1468
Ending Page	1473
File Size	600510
Page Count	6
File Format	PDF
ISBN	9781467322300
e-ISBN	9781467322324
DOI	10.1109/EUROCON.2013.6625171
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-01
Publisher Place	Croatia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Energy consumption Robots Switches Torque Master-slave Force Fault detection teleoperation Energy optimisation power management fault detection bilateral control
Content Type	Text
Resource Type	Article

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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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