Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles

Toshiyuki Murao; Hiroyuki Kawai; Kenji Hirata; Masayuki Fujita

doi:10.1109/ASCC.2017.8287167

Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles

Toshiyuki Murao, Hiroyuki Kawai, Kenji Hirata, Masayuki Fujita

Electric and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper investigates bilateral control of nonlinear teleoperation with time varying communication delays for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. First, a brief summary of dynamics of a 2DOF robot manipulator with antagonistic bi-articular muscles is given. Next, we propose bilateral control of nonlinear teleoperation which consists of a master bi-articular manipulator and a slave one. Stability analysis of the closed-loop system is provided by using a Lyapunov-based analysis. The proposed control law for a bi-articular manipulator tele-operation system does not induce instability of force reflecting teleoperators in the presence of time varying communication delays. Finally, simulation results are presented to confirm the effectiveness of the proposed control law.

Original language	English
Title of host publication	2017 Asian Control Conference, ASCC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	204-209
Number of pages	6
ISBN (Electronic)	9781509015733
DOIs	https://doi.org/10.1109/ASCC.2017.8287167
State	Published - 2018/02/07
Event	2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia Duration: 2017/12/17 → 2017/12/20

Publication series

Name	2017 Asian Control Conference, ASCC 2017
Volume	2018-January

Conference

Conference	2017 11th Asian Control Conference, ASCC 2017
Country/Territory	Australia
City	Gold Coast
Period	2017/12/17 → 2017/12/20

ASJC Scopus subject areas

Control and Optimization

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10.1109/ASCC.2017.8287167

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Murao, T., Kawai, H., Hirata, K., & Fujita, M. (2018). Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles. In 2017 Asian Control Conference, ASCC 2017 (pp. 204-209). (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2017.8287167

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title = "Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles",

abstract = "This paper investigates bilateral control of nonlinear teleoperation with time varying communication delays for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. First, a brief summary of dynamics of a 2DOF robot manipulator with antagonistic bi-articular muscles is given. Next, we propose bilateral control of nonlinear teleoperation which consists of a master bi-articular manipulator and a slave one. Stability analysis of the closed-loop system is provided by using a Lyapunov-based analysis. The proposed control law for a bi-articular manipulator tele-operation system does not induce instability of force reflecting teleoperators in the presence of time varying communication delays. Finally, simulation results are presented to confirm the effectiveness of the proposed control law.",

author = "Toshiyuki Murao and Hiroyuki Kawai and Kenji Hirata and Masayuki Fujita",

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doi = "10.1109/ASCC.2017.8287167",

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Murao, T, Kawai, H, Hirata, K & Fujita, M 2018, Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles. in 2017 Asian Control Conference, ASCC 2017. 2017 Asian Control Conference, ASCC 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 204-209, 2017 11th Asian Control Conference, ASCC 2017, Gold Coast, Australia, 2017/12/17. https://doi.org/10.1109/ASCC.2017.8287167

Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles. / Murao, Toshiyuki; Kawai, Hiroyuki; Hirata, Kenji et al.
2017 Asian Control Conference, ASCC 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 204-209 (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper investigates bilateral control of nonlinear teleoperation with time varying communication delays for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. First, a brief summary of dynamics of a 2DOF robot manipulator with antagonistic bi-articular muscles is given. Next, we propose bilateral control of nonlinear teleoperation which consists of a master bi-articular manipulator and a slave one. Stability analysis of the closed-loop system is provided by using a Lyapunov-based analysis. The proposed control law for a bi-articular manipulator tele-operation system does not induce instability of force reflecting teleoperators in the presence of time varying communication delays. Finally, simulation results are presented to confirm the effectiveness of the proposed control law.

AB - This paper investigates bilateral control of nonlinear teleoperation with time varying communication delays for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. First, a brief summary of dynamics of a 2DOF robot manipulator with antagonistic bi-articular muscles is given. Next, we propose bilateral control of nonlinear teleoperation which consists of a master bi-articular manipulator and a slave one. Stability analysis of the closed-loop system is provided by using a Lyapunov-based analysis. The proposed control law for a bi-articular manipulator tele-operation system does not induce instability of force reflecting teleoperators in the presence of time varying communication delays. Finally, simulation results are presented to confirm the effectiveness of the proposed control law.

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Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles

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