Abstract
This paper addresses the control problem of master-slave teleoperation of a class of underactuated mechanical systems with communication delays. The core of the proposed solution introduces a suitable coupling matrix, so the complete error dynamics is written in a linear part, and a nonlinear one, for which the matching condition is satisfied. Then, from this representation, discontinuous causal controllers are designed to achieve bilateral coordination in force and position. The proposal is valid for underactuated manipulators with second-order non-holonomic constraints, and represents, to our best knowledge, a contribution in teleoperation systems where these mechanisms have been barely considered. Numerical simulations and real-time experiments developed over the Internet are provided to show the effectiveness of the proposed control scheme.
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Recommended by Associate Editor Shinsuk Park under the direction of Editor-in-Chief Young Hoon Joo. This work was supported by the SEP-PRODEP under grant DSA/103.5/15/6895, and by the CONACyT under grant CB-2012-180011-Y.
Ollin Peñaloza-Mejía received the B.S. degree in mechatronics engineering from the National Polytechnic Institute of Mexico (IPN) in 2002, and the M.Sc. and Ph.D. degrees in electrical engineering, both specialized in mechatronics, from the Advanced Studies and Research Center (CINVESTAV-IPN), Mexico City, in 2003 and 2009, respectively. He has made several research stays with the control groups of the Scientific Research and Higher Education Center of Ensenada (CICESE), and with the Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN) in France. From 2007 to 2014, he was with the Industrial and Mechatronics Engineering Division at the Technological Institute for Higher Studies of Ecatepec (TESE). Since 2015, he has been a Full Professor at the Electrical and Electronics Engineering Department of the Sonora Institute of Technology (ITSON). His current research interests include analysis and control of mechanical systems with applications to robotics, and design of mechatronics systems.
Luis A. Márquez-Martínez received the B.S. from Universidad Automoma de Baja California (Mexico) in 1992, the M.Sc. in Electronics and Telecommunications from CICESE Research Center (Ensenada, Mexico) in 1994, and the PhD. degree (Cum Laude) from Université de Nantes/Ecole Centrale de Nantes (France) in 2000. Since 1990, he has been a Full Professor with the Department of Electronics and Telecommunications, at the Scientific Research and Higher Education Center of Ensenada, Mexico. Since 2001, he has held a position as researcher. His current research interests include algebraic and geometric tools for analysis and control of nonlinear time-delay systems, respiratory signal analysis, and educational tools.
Jaime Alvarez-Gallegos received the B.S. degree in electronics engineering from the National Polytechnic Institute of Mexico (IPN), Mexico City, Mexico, in 1973, and the M.Sc. and Ph.D. degrees in electrical engineering from CINVESTAV-IPN, Mexico City, in 1974 and 1978, respectively. He was the Head of the Automatic Control Section, CINVESTAV, from 1983 to 1985, and the Head of the Electrical Engineering Department, CINVESTAV-IPN, from 1992 to 1996. He also held the position of Visiting Professor at Imperial College of Science and Technology, London, U.K., from 1985 to 1986. Since 1976, he has been Professor in the Electrical Engineering Department, CINVESTAV-IPN. His research interests include dynamics and control of electromechanical systems, systems optimization and robotics.
Joaquín Alvarez received the Diploma degree in electronics and telecomunications engineering from the School of Electrical and Mechanical Engineering of the National Polytechnic Institute (NPI) of Mexico in 1975; his M.Sc. degree in Electrical Engineering from Advanced Studies and Research Center of the NPI in 1976, and the Engineer-Doctor degree in Automatic Control from the National School of Electrotechnical Engineering of the National Polytechnique Institute of Grenoble, France in 1979. From 1980 to 1987 he held a Professorial position in the Electrical Engineering Department of the Advanced Studies and Research Center of the NPI. From 1987 to 1990 he was in the Electrical Research Institute at Cuernavaca, Mexico. Since 1990 he has been a Full Professor at the Electronics and Telecommunications Department of the Scientific Research and Higher Education Center of Ensenada, Mexico (CICESE). Prof. Alvarez has been a member of the National System of Scientific Research of Mexico since 1984. He is a member of the Mexican Academy of Sciences, the Mexican Academy of Engineering and the IEEE. He was the President of the Mexican Association of Automatic Control, from 1984 to 1986. His present research interests are in the fields of nonlinear control, discontinuous systems, chaos control and synchronization, with applications to mechanical systems and electronic circuits.
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Peñaloza-Mejía, O., Márquez-Martínez, L.A., Alvarez-Gallegos, J. et al. Master-slave teleoperation of underactuated mechanical systems with communication delays. Int. J. Control Autom. Syst. 15, 827–836 (2017). https://doi.org/10.1007/s12555-015-0126-8
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DOI: https://doi.org/10.1007/s12555-015-0126-8