Show simple item record

dc.contributor.authorMaddahi, Yaser
dc.contributor.authorLiao, Stephen
dc.contributor.authorFung, Wai-Keung
dc.contributor.authorSepehri, Nariman
dc.date.accessioned2016-05-09T07:43:07Z
dc.date.available2016-05-09T07:43:07Z
dc.date.issued2016-05-04
dc.identifier.citationMADDAHI, Y., LIAO, S., FUNG, W.-K. and SEPEHRI, N. 2016. Position referenced force augmentation in teleoperated hydraulic manipulators operating under delayed and lossy networks: a pilot study. Robotics and autonomous systems [online], 83, pages 231-242. Available from: http://dx.doi.org/10.1016/j.robot.2016.04.006en
dc.identifier.issn0921-8890en
dc.identifier.urihttp://hdl.handle.net/10059/1462
dc.description.abstractPosition error between motions of the master and slave end-effectors is inevitable as it originates from hard-to-avoid imperfections in controller design and model uncertainty. Moreover, when a slave manipulator is controlled through a delayed and lossy communication channel, the error between the desired motion originating from the master device and the actual movement of the slave manipulator end-effector is further exacerbated. This paper introduces a force feedback scheme to alleviate this problem by simply guiding the operator to slow down the haptic device motion and, in turn, allows the slave manipulator to follow the desired trajectory closely. Using this scheme, the master haptic device generates a force, which is proportional to the position error at the slave end-effector, and opposite to the operator’s intended motion at the master site. Indeed, this force is a signal or cue to the operator for reducing the hand speed when position error, due to delayed and lossy network, appears at the slave site. Effectiveness of the proposed scheme is validated by performing experiments on a hydraulic telemanipulator setup developed for performing live-line maintenance. Experiments are conducted when the system operates under both dedicated and wireless networks. Results show that the scheme performs well in reducing the position error between the haptic device and the slave end-effector. Specifically, by utilizing the proposed force, the mean position error, for the case presented here, reduces by at least 92% as compared to the condition without the proposed force augmentation scheme. The scheme is easy to implement, as the only required on-line measurement is the angular displacement of the slave manipulator joints.en
dc.language.isoenen
dc.publisherElsevieren
dc.rightshttps://creativecommons.org/licenses/by-nc-nd/4.0en
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectPosition error-referenced forceen
dc.subjectHapticsen
dc.subjectHydraulic manipulatoren
dc.subjectTeleoperationen
dc.subjectWireless networken
dc.subjectDedicated networken
dc.subjectTime delayen
dc.subjectPacket lossen
dc.titlePosition referenced force augmentation in teleoperated hydraulic manipulators operating under delayed and lossy networks: a pilot study.en
dc.typeJournal articlesen
dc.publisher.urihttp://dx.doi.org/10.1016/j.robot.2016.04.006en
dcterms.dateAccepted2016-04-12
dcterms.publicationdate2016-09-01
refterms.accessExceptionNAen
refterms.dateDeposit2016-05-09
refterms.dateEmbargoEnd2017-05-04
refterms.dateFCA2017-05-04
refterms.dateFreeToDownload2017-05-04
refterms.dateFreeToRead2017-05-04
refterms.dateToSearch2017-05-04
refterms.depositExceptionNAen
refterms.panelBen
refterms.technicalExceptionNAen
refterms.versionAMen
rioxxterms.publicationdate2016-05-04
rioxxterms.typeJournal Article/Reviewen


Files in this item

This item appears in the following Collection(s)

Show simple item record

https://creativecommons.org/licenses/by-nc-nd/4.0
Except where otherwise noted, this item's license is described as https://creativecommons.org/licenses/by-nc-nd/4.0