A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects

Jinfei Hu; Zheng Chen; Xin Ma; Han Lai; Bin Yao

doi:10.1109/JAS.2022.105626

Volume 9 Issue 6

Jun. 2022

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2022 > 9(6): 1015-1025

J. F. Hu, Z. Chen, X. Ma, H. Lai, and B. Yao, “A telepresence-guaranteed control scheme for teleoperation applications of transferring weight-unknown objects,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 6, pp. 1015–1025, Jun. 2022. doi: 10.1109/JAS.2022.105626

Citation:

J. F. Hu, Z. Chen, X. Ma, H. Lai, and B. Yao, “A telepresence-guaranteed control scheme for teleoperation applications of transferring weight-unknown objects,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 6, pp. 1015–1025, Jun. 2022. doi: 10.1109/JAS.2022.105626

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A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects

doi: 10.1109/JAS.2022.105626

Jinfei Hu^1
,,
Zheng Chen^{2, 3, 4
,
,},
Xin Ma^{5, 6
,},
Han Lai^1
,,
Bin Yao^7
,

1.
State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
2.
Ocean College, Zhejiang University, Zhoushan 316021, China
3.
State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
4.
Ocean Research Center of Zhoushan, Zhejiang University, Zhoushan 316021, China
5.
School of Engineering Technology, Purdue University, West Lafayette, IN 47907 USA
6.
Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
7.
School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907 USA

Funds: This work was supported in part by the National Natural Science Foundation of China (52075476, 92048302), and in part by the Key R&D Program of Zhejiang Province (2021C03013)

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Author Bio:
Jinfei Hu received the B.Eng. degree in mechanical engineering from Nantong University in 2015, and the Ph.D. degree in mechatronic engineering from Zhejiang University in 2021. He was also with the State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University. From February 2020 to February 2021, he was a Visiting Scholar with School of Engineering Technology, Purdue University, USA. His research interests include manipulator motion/force control, nonlinear adaptive robust control, and tele-robotics

Zheng Chen (Senior Member, IEEE) received the B.Eng. and Ph.D. degrees in mechatronic control engineering from Zhejiang University in 2007 and 2012, respectively. From 2013 to 2015, he was a Postdoctoral Researcher in the Department of Mechanical Engineering at Dalhousie University, Canada. Since 2015, he has been with the Ocean College of Zhejiang University, and was promoted to Professor in 2020. His research interests mainly focus on advanced control of robotic and mechatronic systems (e.g., nonlinear adaptive robust control, motion control, trajectory planning, tele-robotics, hydraulic system, precision mechatronic system, soft actuator and robot, mobile manipulator, underwater robot, exoskeleton)

Xin Ma is a Research Assistant Professor of the Department of Mechanical and Automation Engineering at CUHK, China. He received the B.Eng. and Ph.D. degrees in mechanical and electronic engineering from Dalian University of Technology in 2011 and 2017, respectively. From 2017 to 2019, he was a Research Post-Doctoral Fellow with CUHK. From 2019–2021, he was a Post-Doctoral Researcher with School of Engineering Technology, Purdue University, USA. His research interests include flexible robot, medical robot, stereo vision, image processing and visual servoing

Han Lai received the B.Eng. degree in mechanical engineering from Central South University in 2020. She is currently working toward the Ph.D. degree at the School of Mechanical Engineering, Zhejiang University. She is also with the State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University. Her research interests include control theory of time-delay systems and adaptive robust control of robotic systems

Bin Yao (Senior Member, IEEE) received the B.Eng. degree in applied mechanics from Beijing University of Aeronautics and Astronautics of China in 1987, the M.Eng. degree in electrical engineering from Nanyang Technological University of Singapore in 1992, and the Ph.D. degree in mechanical engineering from the University of California at Berkeley, USA, in 1996. He has been with the School of Mechanical Engineering, Purdue University, USA, since 1996, and was promoted to Professor in 2007. Dr. Yao was honored as a Kuang-piu Professor in 2005 and a Changjiang Chair Professor at Zhejiang University by the Ministry of Education of China in 2010 as well. He is also a Fellow of ASME. More detailed information can be found at https://engineering.purdue.edu/~byao
Corresponding author: Zheng Chen, e-mail: zheng_chen@zju.edu.cn
Received Date: 2021-03-18
Revised Date: 2021-12-15
Accepted Date: 2022-03-08

Available Online: 2022-04-14

Abstract

Abstract

Currently, most teleoperation work is focusing on scenarios where slave robots interact with unknown environments. However, in some fields such as medical robots or rescue robots, the other typical teleoperation application is precise object transportation. Generally, the object’s weight is unknown yet essential for both accurate control of the slave robot and intuitive perception of the human operator. However, due to high cost and limited installation space, it is unreliable to employ a force sensor to directly measure the weight. Therefore, in this paper, a control scheme free of force sensor is proposed for teleoperation robots to transfer a weight-unknown object accurately. In this scheme, the workspace mapping between master and slave robot is firstly established, based on which, the operator can generate command trajectory on-line by operating the master robot. Then, a slave controller is designed to follow the master command closely and estimate the object’s weight rapidly, accurately and robust to unmodeled uncertainties. Finally, for the sake of telepresence, a master controller is designed to generate force feedback to reproduce the estimated weight of the object. In the end, comparative experiments show that the proposed scheme can achieve better control accuracy and telepresence, with accurate force feedback generated in only 500 ms.
- Adaptive robust control,
- teleoperation,
- telepresence,
- transparency,
- weight estimation

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References(41)

References

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A teleoperation control scheme for transferring weight-unknown objects
Master-side force feedback to reproduce the object’s weight
Slave-side accurate trajectory following under dynamic uncertainties
Comparative experiments show better control accuracy and telepresence

A Telepresence-Guaranteed Control Scheme for Teleoperation Applications of Transferring Weight-Unknown Objects

doi: 10.1109/JAS.2022.105626

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通讯作者: 陈斌, bchen63@163.com

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