In a conventional bilateral teleoperation, transmission delay over the Internet can potentially cause instability. A wave variable algorithm guarantees teleoperation stability under varying transmission delay at the cost of poor transient performance. Adding a predictor on the master side can reduce this undesirable side effect, but that would require a slave model. An inaccurate slave model used in the predictor as well as variations in transmission delay, both of which are likely under realistic situations, can result in steady-state errors. A direct drift control algorithm is used to drive this error to zero, regardless of the source of the error. A semi-adaptive predictor that can distinguish between free space and a rigid contact environment is used to provide a more accurate force feedback on the master side. A full adaptive predictor is also used that estimates the environmental force using recursive least squares with a forgetting factor. This research presents the experimental results and evaluations of the previously mentioned wave-variable-based methods under a realistic operation environment using a real master and slave. The algorithm proposed is innovative in that it takes advantage of the strengths of several control methods to build a promising bilateral teleoperation setup that can function under varying transmission delay, modeling error, and changing environment. Success could lead to practical applications in various fields, such as space-based remote control, and telesurgery.
Skip Nav Destination
Article navigation
March 2006
Technical Papers
Internet-Based Bilateral Teleoperation Based on Wave Variable With Adaptive Predictor and Direct Drift Control
Ho Ching,
Ho Ching
Intelligent Machine Dynamics Laboratory
, Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
Search for other works by this author on:
Wayne J. Book
Wayne J. Book
Intelligent Machine Dynamics Laboratory
, Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
Search for other works by this author on:
Ho Ching
Intelligent Machine Dynamics Laboratory
, Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
Wayne J. Book
Intelligent Machine Dynamics Laboratory
, Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332J. Dyn. Sys., Meas., Control. Mar 2006, 128(1): 86-93 (8 pages)
Published Online: September 28, 2005
Article history
Received:
April 1, 2005
Revised:
September 28, 2005
Citation
Ching, H., and Book, W. J. (September 28, 2005). "Internet-Based Bilateral Teleoperation Based on Wave Variable With Adaptive Predictor and Direct Drift Control." ASME. J. Dyn. Sys., Meas., Control. March 2006; 128(1): 86–93. https://doi.org/10.1115/1.2168161
Download citation file:
Get Email Alerts
Offline and online exergy-based strategies for hybrid electric vehicles
J. Dyn. Sys., Meas., Control
Optimal Control of a Roll-to-Roll Dry Transfer Process With Bounded Dynamics Convexification
J. Dyn. Sys., Meas., Control (May 2025)
In-Situ Calibration of Six-Axis Force/Torque Transducers on a Six-Legged Robot
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control
Related Articles
Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation
J. Dyn. Sys., Meas., Control (June,2003)
Data-Weighting Based Discrete-Time Adaptive Iterative Learning Control for Nonsector Nonlinear Systems With Iteration-Varying Trajectory and Random Initial Condition
J. Dyn. Sys., Meas., Control (March,2012)
Steady Modes in Relay Control Systems With Time Delay and Periodic Disturbances
J. Dyn. Sys., Meas., Control (December,2000)
Position-Error Based Schemes for Bilateral Teleoperation With Time Delay: Theory and Experiments
J. Dyn. Sys., Meas., Control (May,2010)
Related Proceedings Papers
Related Chapters
Real Time Distributed Tri-Mode Control of Coefficient of Variance for High Quality of Service End-To-End Voice/ IP Application
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)
Pre-Accidental Situations Highlighted by RECUPERARE Method and Data (PSAM-0029)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)
Quality-of-Service Issues in Preplanned Recovery Schemes Using Multiple Redundant Trees for Complete Graphs: Part (I)
International Conference on Electronics, Information and Communication Engineering (EICE 2012)