Internet - based Bilateral Teleoperation Using a Revised Time - Domain Passivity Controller

Márton, Lőrinc and Szántó, Zoltán and Haidegger, Tamás and Galambos, Péter and Kövecses, József (2017) Internet - based Bilateral Teleoperation Using a Revised Time - Domain Passivity Controller. Acta Polytechnica Hungarica. ISSN 1785-8860

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Abstract

This study presents a teleoperation system for remote control of mobile manipulators over the Internet. A bilateral control algorithm is proposed that can assure both stability and proper force reflection in the presence of non-constant delay in the communication channels between the master and the slave. The control approach in this paper is based on the time domain passivity concept and proposes a modified passivity controller to assure enhanced transparency with bounded control actions in the presence of time-varying communication delay. Transatlantic and inter-European bilateral teleoperation experiments are also reported (Montreal, Canada - Tirgu Mures, Romania; Budapest, Hungary - Tirgu Mures, Romania). The experimental measurements show the applicability of the control approach and its benefits on the teleoperation performances.

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