Development and present situation on pivotal control technology of teleoperation robots with haptic feedback

TIAN Dapeng1,2
(1.Key Laboratory of Airborne Optical Imaging and Measurement, Chinese Academy of Sciences, Changchun 130033, China;
2.Changchun Institute of Optics, Fine Machine and Physics, Chinese Academy of Sciences, Changchun 130033, China)

Abstract: Aiming at the problem that new results and developments are difficult to be covered by current overviews in the field of teleoperation control with haptic feedback, the recently proposed methods were investigated based on the analysis of the traditional bilateral control, such as the improved fourchannel control, bilateral control of mobile robots with different structure and multilateral control. The key fourchannel method was evaluated and tested by experiment. Besides, stabilizing controllers were analyzed in the presence of time invariant or timevarying communication delay. Developing directions of the studies in this field were cleared. The results indicate that the control of teleoperation robots with haptic feedback is developing in two parallel directions with or without the communication delay. On one hand, new structures facing to different and multiple robots are developing based on the fourchannel bilateral control. The transparency will be further improved by the disturbance rejection. On the other hand, highly transparent bilateral control and multilateral control are developing based on the theories of passivity and disturbance observer, which is feasible in the presence of varying delay.
Key words: haptic feedback; teleoperation; robot; control