Bilateral Teleoperation for Robots with Time Delay and Varying Dynamics
Speaker:Prof. Rodney G. ROBERTS
Fulbright Scholar
University of Macau

Professor
Department of Electrical and Computer Engineering
Florida State University
Date & Time:4 Mar 2016 (Friday) 11:00 - 12:00
Venue:E11-1009
Organized by:Department of Electrical and Computer Engineering

Abstract

Teleoperation involves the use of robots at a distance and is particularly useful for tasks requiring robots to operate in dangerous and inhospitable environments. Bilateral teleoperation provides the operator with force feedback via a master device used to control the remote robot during teleoperation. The force feedback enhances teleoperation for the operator by providing the operator with the ability to feel interactive forces rather than just visual and/or auditory cues. Unfortunately, time delay across the communication link between the local device and remote robot can cause instability in the system. The wave variable method is a common approach for guaranteeing stability for bilateral teleoperated systems with time delay. Although this method guarantees stability for the constant time delay case, performance is still degraded due to transient oscillations known as wave reflections. This becomes more prominent when there exist a mismatched impedance. In this research, we introduce wave filters to address the issue of wave reflections for teleoperation systems with varying slave dynamics.

Biography

Rodney G. Roberts received B.S. degrees in Electrical Engineering and Mathematics from Rose–Hulman Institute of Technology, Terre Haute, IN, in 1987 and the M.S.E.E. and Ph.D. degrees in Electrical Engineering from Purdue University, West Lafayette, IN, in 1988 and 1992, respectively. From 1992 to 1994, he was a National Research Council Fellow at Wright–Patterson Air Force Base (AFB), Dayton, OH. Since 1994, he has been at Florida State University, where he is a Full Professor in the Department of Electrical and Computer Engineering. Currently, Prof. Roberts is a Fulbright Scholar at the University of Macau. His research interests include robotics, parallel mechanisms, and teleoperation. Prof. Roberts is active in the IEEE Systems, Man, and Cybernetics Society and serves as the SMCS Vice President for Systems Science and Engineering and as an Associate Editor for the IEEE Transactions on Systems, Man, and Cybernetics: Systems.