Yuji Wang

Passive four-channel multilateral shared control architecture in teleoperation

The stability of a force-reflecting bilateral teleoperator in the presence of time delay is solved in the former researches, and recently the four-channel architecture in teleoperation is focused by many literatures. This paper proposes a novel passive four-channel architecture (PFCA). Furthermore, two types of multilateral shared control architecture existed in space teleoperation are put forward, one is Dual-Master Multilateral Shared Control Architecture (DMMSCA), the other is Dual-Slave Multilateral Shared Control Architecture (DSMSCA). Simulations show that PFCA, DMMSCA and DSMSCA can maintain stability in the presence of large time delay.

Four-Channel Control Architectures for Bilateral and Multilateral Teleoperation

The four-channel architecture in teleoperation with force feedback has been studied in various existing literature. However, most of them focused on Lawrence architecture and did not research other cases. This paper proposes two other four-channel architectures: passive four-channel architecture and passive four-channel architecture with operator force. Furthermore, two types of multilateral shared control architecture based on passive four-channel architecture, which exists in space teleoperation, are put forward. One is dual-master multilateral shared control architecture, and the other is dual-slave multilateral shared control architecture. Simulations show that these four architectures can maintain stability in the presence of large time delay.

Performance improvement of force feedback in bilateral teleoperation with PD controller

This paper deals with the performance improvement of force feedback in bilateral teleoperation with PD controller. In traditional PD structures, the force feedback is simply determined by the position and velocity of the master and the slave manipulators, which may induce large resistance forces to the operator even in free motion. In this paper, a novel PD bilateral controller is proposed to tackle this problem. By incorporating a distance variable in the controller, we show that the appropriate force feedback can be obtained which still guarantees the system stability. To validate the proposed algorithm, an experiment is also carried out on our single degree of freedom teleoperation system. The results indicate that this strategy is effective for safe teleoperation missions.