Hostname: page-component-586b7cd67f-dsjbd Total loading time: 0 Render date: 2024-11-22T05:25:44.772Z Has data issue: false hasContentIssue false
  • English
  • Français

Teleoperation with kinematically redundant robot manipulators with sub-task objectives*

Published online by Cambridge University Press:  06 March 2009

Nitendra Nath ,
Enver Tatlicioglu  and
Darren M. Dawson
Nitendra Nath*
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA
Enver Tatlicioglu
Affiliation:
Department of Electrical & Electronics Engineering, Izmir Institute of Technology, Gulbahce Koyu, Urla, Izmir 35430, Turkey
Darren M. Dawson
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA
*
†Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunov-based stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective. Numerical simulation results are presented to illustrate the effectiveness of the proposed controller.

Keywords

TeleoperationRedundant manipulatorsControl of robotic systemsLyapunov-based controlSub-control objectives
Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 1027 - 1038
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Footnotes

*

A preliminary version of this paper has appeared in ref. [1]

References

1.Nath, N., Tatlicioglu, E. and Dawson, D. M., “Teleoperation with Kinematically Redundant Robot Manipulators with Sub-Task Objectives,” Proceedings of IEEE International Conference on Decision and Control, Cancun, Mexico (Dec. 2008) pp. 4320–4325.Google Scholar
2.Sheridan, T. B., “Teleoperation, telerobotics and telepresence: A progress report,” Control Eng. Prac. 3 (2), 205–214 (1995).CrossRefGoogle Scholar
3.Berkelman, P. and Ma, J., “A Compact, Modular, Teleoperated Minimally Invasive Surgery System,” Proceedings of IEEE/RAS-EMBS International Conference on Biomedical, Robotics and Biomechatronics, Pisa, Italy (Feb. 2006) pp. 702–707.Google Scholar
4.Ogaki, F. and Suzuki, K., “Adaptive Teleoperation of a Mobile Robot Under Communication Time Delay,” IEEE International Workshop on ROSE, Ottawa, Canada (Oct. 2007) pp. 1–6.Google Scholar
5.Slawinski, E., Postigo, J. and Mutt, V., “Stable Teleoperation of Mobile Robots,” Proceedings of IEEE International Conference on Mechatronics and Automation, Luoyang, China (Jun. 2006) pp. 318–323.Google Scholar
6.Lawrence, D. A., “Stability and transparency in bilateral teleoperation,” IEEE Trans. Robot. Automat. 9 5, 624–637 (1993).CrossRefGoogle Scholar
7.Hokayem, P. F. and Spong, M. W., “Bilateral teleoperation: An historical survey,” Automatica 42 12, 2035–2057 (2006).CrossRefGoogle Scholar
8.Chirikjian, G. S. and Burdick, J. W., “Hyper-Redundant Robot Mechanisms and Their Applications,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots Systems, Osaka, Japan (Nov. 1991) pp. 185–190.Google Scholar
9.Nakamura, Y., Advanced Robotics Redundancy and Optimization (Addison-Wesley, Reading, MA, 1991).Google Scholar
10.Nenchev, D. N., “Redundancy resolution through local optimization: A reveiw,” J. Rob. Syst. 6 6, 769–798 (1993).CrossRefGoogle Scholar
11.Siciliano, B., “Kinematic control of redundant robot manipulators: A tutorial,” J. Intell. Rob. Syst. 3, 201–212 (1990).CrossRefGoogle Scholar
12.Tatlicioglu, E., Control of Nonlinear Mechatronic Systems (VDM Verlag Dr. Mueller e.K., Germany, 2008).Google Scholar
13.Dixon, W. E., Behal, A., Dawson, D. M. and Nagarkatti, S., Nonlinear Control of Engineering Systems: A Lyapunov-Based Approach (Birkhauser, Boston, MA, 2003).CrossRefGoogle Scholar
14.Zergeroglu, E., Dawson, D., Walker, I. and Behal, A., “Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators,” Proceedings of American Control Conference, Chicago, IL (Jun. 2000) pp. 2513–2517.Google Scholar
15.Colbaugh, R. and Glass, K., “Robust adaptive control of redundant manipulators,” J. Intell. Rob. Syst. 14 1, 68–88 (1995).CrossRefGoogle Scholar
16.Khatib, O., “Dynamic Control of Manipulators in Operational Space,” IFTOMM Congress Theory of Machines and Mechanisms, New Delhi, India (1983) pp. 1–10.Google Scholar
17.Yuan, J., “A general photogrammetric method for determining object position and orientation,” IEEE Trans. Robot. Autom. 5 2, 129–142 (1989).CrossRefGoogle Scholar
18.Hwang, D. and Hannaford, B., “Teleoperation performance with a kinematically redundant slave robot,” Int. J. Rob. Res. 17, 579–597 (1998).CrossRefGoogle Scholar
19.Das, H., Sheridan, T. B. and Slotine, J. J. E., “Kinematic Control and Visual Display of Redundant Teleoperators,” IEEE International Conference on System, Man, and Cybernetics, Cambridge, MA (Nov. 1989) pp. 1072–1077.CrossRefGoogle Scholar
20.Tatlicioglu, E., McIntyre, M., Dawson, D. M. and Burg, T., “Coordination Control for Haptic and Teleoperator Systems,” Proceedings of IEEE International Conference on Decision and Control, San Diego, CA (Dec. 2006) pp. 2937–2942.CrossRefGoogle Scholar
21.Lewis, F., Dawson, D. and Abdallah, C., Robot Manipulator Control: Theory and Practice (Marcel Dekker, Inc., New York, NY, 2004).Google Scholar
22.Lee, D. and Li, P. Y., “Passive Coordination of Nonlinear Bilateral Teleoperated Manipulators,” Proceedings of IEEE International Conference on Robotics and Automation, Washington DC (May 2002) pp. 3278–3283.Google Scholar
23.Lee, D. and Li, P. Y., “Passive bilateral feedforward control of linear dynamically similar teleoperated manipulators,” IEEE Trans. Robot. Autom. 19 3443–456 (2003).Google Scholar
24.Zergeroglu, E., Dawson, D. M., Walker, I. and Behal, A., “Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators,” Proceedings of American Control Conference, Chicago, IL (Jun. 2000) pp. 2513–2517.Google Scholar
25.Tatlicioglu, E., Braganza, D., Burg, T. and Dawson, D., “Adaptive control of redundant robot manipulators with sub-task extensions,” Robotica (to appear) (doi: 10.1017/S0263574708005274).CrossRefGoogle Scholar
26.Tatlicioglu, E., McIntyre, M., Dawson, D. and Walker, I., “Adaptive nonlinear tracking control of kinematically redundant robot manipulators,” Int. J. Rob. Automat. 23 2, 98–105 (2008).Google Scholar
27.Sahin, H. T., Ozbay, U. and Zergeroglu, E., “Quaternion Based Robust Tracking Control of Kinematically Redundant Manipulators Subject to Multiple Self-Motion Criteria,” Proceedings of IEEE International Conference on Decision and Control, San Diego, CA (Dec. 2006) pp. 6462–6467.Google Scholar
28.Zergeroglu, E., Sahin, H. T., Ozbay, U. and Tektas, U. A., “Robust Tracking Control of Kinematically Redundant Robot Manipulators Subject to Multiple Self-Motion Criteria,” Proceedings of IEEE International Conference on Control Applications, Munich, Germany (Oct. 2006) pp. 2860–2865.Google Scholar
29.Braganza, D., McIntyre, M. L., Dawson, D. M. and Walker, I. D., “Whole Arm Grasping Control for Redundant Robot Manipulators,” Proceedings of American Control Conference, Minneapolis, MN (Jun. 2006) pp. 3194–3199.Google Scholar
30.Oh, Y., Chung, W. K. and Youm, Y., “Extended Impedance Control of Redundant Manipulators Using Joint Space Decomposition,” Proceedings of IEEE International Conference on Robotics Automation, Albuquerque, NM (Apr. 1997) pp. 1080–1087.CrossRefGoogle Scholar
31.Li, P. and Horowitz, R., “Passive velocity field control of mechanical manipulators,” IEEE Trans. Robot. Automat. 15 4, 751–763 (1999).CrossRefGoogle Scholar
32.Hsu, P., Hauser, J. and Sastry, S., “Dynamic control of redundant robot manipulators,” J. Rob. Syst. 6 3, 133–148 (1989).CrossRefGoogle Scholar
33.Spong, M. W. and Vidyasagar, M., Robot Dynamics and Control (John Wiley and Sons, New York, NY, 1989).Google Scholar
34.Cervantes, I., Kelly, R., Alvarez-Ramirez, J. and Moreno, J., “A robust velocity field control,” IEEE Trans. Contr. Syst. Technol. 10 6, 888–894 (2002).CrossRefGoogle Scholar
35.Craig, J. J., Introduction to Robotics: Mechanics and Control, 3rd ed. (Prentice Hall, New York, NY, 2004).Google Scholar